matlab logging: Initial CSV example

2 files changed, 287 insertions, 0 deletions

diff --git a/src/examples/matlab_csv_serial/matlab_csv_serial.c b/src/examples/matlab_csv_serial/matlab_csv_serial.c
new file mode 100644
index 000000000..7c8bcc31e
--- /dev/null
+++ b/src/examples/matlab_csv_serial/matlab_csv_serial.c
@@ -0,0 +1,246 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2014 PX4 Development Team. All rights reserved.		 
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file matlab_csv_serial_main.c
+ *
+ * Matlab CSV / ASCII format interface at 921600 baud, 8 data bits,
+ * 1 stop bit, no parity
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ */
+
+#include <nuttx/config.h>
+#include <unistd.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include <string.h>
+#include <stdbool.h>
+#include <fcntl.h>
+#include <float.h>
+#include <nuttx/sched.h>
+#include <sys/prctl.h>
+#include <drivers/drv_hrt.h>
+#include <termios.h>
+#include <errno.h>
+#include <limits.h>
+#include <math.h>
+#include <uORB/uORB.h>
+#include <drivers/drv_accel.h>
+#include <drivers/drv_gyro.h>
+#include <systemlib/perf_counter.h>
+#include <systemlib/systemlib.h>
+#include <poll.h>
+
+__EXPORT int matlab_csv_serial_main(int argc, char *argv[]);
+static bool thread_should_exit = false;		/**< Daemon exit flag */
+static bool thread_running = false;		/**< Daemon status flag */
+static int daemon_task;				/**< Handle of daemon task / thread */
+
+int matlab_csv_serial_thread_main(int argc, char *argv[]);
+static void usage(const char *reason);
+
+static void usage(const char *reason)
+{
+	if (reason)
+		fprintf(stderr, "%s\n", reason);
+	fprintf(stderr, "usage: daemon {start|stop|status} [-p <additional params>]\n\n");
+	exit(1);
+}
+
+/**
+ * The daemon app only briefly exists to start
+ * the background job. The stack size assigned in the
+ * Makefile does only apply to this management task.
+ *
+ * The actual stack size should be set in the call
+ * to task_spawn_cmd().
+ */
+int matlab_csv_serial_main(int argc, char *argv[])
+{
+	if (argc < 1)
+		usage("missing command");
+
+	if (!strcmp(argv[1], "start"))
+	{
+		if (thread_running)
+		{
+			printf("flow position estimator already running\n");
+			/* this is not an error */
+			exit(0);
+		}
+
+		thread_should_exit = false;
+		daemon_task = task_spawn_cmd("matlab_csv_serial",
+					 SCHED_DEFAULT,
+					 SCHED_PRIORITY_MAX - 5,
+					 2000,
+					 matlab_csv_serial_thread_main,
+					 (argv) ? (const char **)&argv[2] : (const char **)NULL);
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "stop"))
+	{
+		thread_should_exit = true;
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "status"))
+	{
+		if (thread_running) {
+			warnx("running");
+		} else {
+			warnx("stopped");
+		}
+
+		exit(0);
+	}
+
+	usage("unrecognized command");
+	exit(1);
+}
+
+int matlab_csv_serial_thread_main(int argc, char *argv[])
+{
+	/* welcome user */
+	thread_running = true;
+
+	if (argc < 2) {
+		errx(1, "need a serial port name as argument");
+	}
+
+	int serial_fd = open(argv[1], O_RDWR | O_NOCTTY);
+
+	unsigned speed = 921600;
+
+	if (serial_fd < 0) {
+		err(1, "failed to open port: %s", argv[1]);
+	}
+
+	/* Try to set baud rate */
+	struct termios uart_config;
+	int termios_state;
+	bool is_usb = false;
+
+	/* Back up the original uart configuration to restore it after exit */
+	if ((termios_state = tcgetattr(_uart_fd, uart_config_original)) < 0) {
+		warnx("ERR GET CONF %s: %d\n", uart_name, termios_state);
+		close(_uart_fd);
+		return -1;
+	}
+
+	/* Fill the struct for the new configuration */
+	tcgetattr(_uart_fd, &uart_config);
+
+	/* Clear ONLCR flag (which appends a CR for every LF) */
+	uart_config.c_oflag &= ~ONLCR;
+
+	/* USB serial is indicated by /dev/ttyACM0*/
+	if (strcmp(uart_name, "/dev/ttyACM0") != OK && strcmp(uart_name, "/dev/ttyACM1") != OK) {
+
+		/* Set baud rate */
+		if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
+			warnx("ERR SET BAUD %s: %d\n", argv[1], termios_state);
+			close(serial_fd);
+			return -1;
+		}
+
+	}
+
+	if ((termios_state = tcsetattr(serial_fd, TCSANOW, &uart_config)) < 0) {
+		warnx("ERR SET CONF %s\n", argv[1]);
+		close(serial_fd);
+		return -1;
+	}
+
+	/* subscribe to vehicle status, attitude, sensors and flow*/
+	struct accel_report accel0;
+	struct accel_report accel1;
+	struct gyro_report gyro0;
+	struct gyro_report gyro1;
+
+	/* subscribe to parameter changes */
+	int accel0_sub = orb_subscribe(ORB_ID(sensor_accel));
+	int accel1_sub;
+	int gyro0_sub;
+	int gyro1_sub;
+
+	while (!thread_should_exit)
+	{
+
+		/*This runs at the rate of the sensors */
+		struct pollfd fds[] = {
+				{ .fd = accel0_sub, .events = POLLIN },
+				{ .fd = accel1_sub,   .events = POLLIN },
+				{ .fd = gyro0_sub,   .events = POLLIN },
+				{ .fd = gyro1_sub,   .events = POLLIN }
+		};
+
+		/* wait for a sensor update, check for exit condition every 500 ms */
+		int ret = poll(fds, sizeof(fds) / sizeof(fds[0]), 500);
+
+		if (ret < 0)
+		{
+			/* poll error, count it in perf */
+			perf_count(mc_err_perf);
+
+		}
+		else if (ret == 0)
+		{
+			/* no return value, ignore */
+			warnx("no sensor data");
+		}
+		else
+		{
+
+			/* parameter update available? */
+			if (fds[0].revents & POLLIN)
+			{
+				orb_copy(ORB_ID(sensor_accel), accel0_sub, &accel0);
+
+				// write out on accel 0, but collect for all other sensors as they have updates
+				vdprintf(serial_fd, "%llu,%d\n", accel0.timestamp, (int)accel0.x_raw);
+			}
+
+		}
+	}
+
+	warnx("exiting");
+	thread_running = false;
+
+	fflush(stdout);
+	return 0;
+}
+
+
diff --git a/src/examples/matlab_csv_serial/module.mk b/src/examples/matlab_csv_serial/module.mk
new file mode 100644
index 000000000..c83d1fefd
--- /dev/null
+++ b/src/examples/matlab_csv_serial/module.mk
@@ -0,0 +1,41 @@
+############################################################################
+#
+#   Copyright (c) 2014 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#
+# Build position estimator
+#
+
+MODULE_COMMAND		= matlab_csv_serial
+
+SRCS		= matlab_csv_serial.c \
+		  matlab_csv_serial.c