Moved all system commands to the new world

2 files changed, 195 insertions, 0 deletions

diff --git a/src/systemcmds/mixer/mixer.c b/src/systemcmds/mixer/mixer.c
new file mode 100644
index 000000000..55c4f0836
--- /dev/null
+++ b/src/systemcmds/mixer/mixer.c
@@ -0,0 +1,152 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 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 mixer.c
+ *
+ * Mixer utility.
+ */
+
+#include <string.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <ctype.h>
+#include <nuttx/compiler.h>
+
+#include <systemlib/err.h>
+#include <drivers/drv_mixer.h>
+#include <uORB/topics/actuator_controls.h>
+
+__EXPORT int mixer_main(int argc, char *argv[]);
+
+static void	usage(const char *reason) noreturn_function;
+static void	load(const char *devname, const char *fname) noreturn_function;
+
+int
+mixer_main(int argc, char *argv[])
+{
+	if (argc < 2)
+		usage("missing command");
+
+	if (!strcmp(argv[1], "load")) {
+		if (argc < 4)
+			usage("missing device or filename");
+
+		load(argv[2], argv[3]);
+	}
+
+	usage("unrecognised command");
+}
+
+static void
+usage(const char *reason)
+{
+	if (reason)
+		fprintf(stderr, "%s\n", reason);
+
+	fprintf(stderr, "usage:\n");
+	fprintf(stderr, "  mixer load <device> <filename>\n");
+	/* XXX other useful commands? */
+	exit(1);
+}
+
+static void
+load(const char *devname, const char *fname)
+{
+	int		dev;
+	FILE		*fp;
+	char		line[80];
+	char		buf[512];
+
+	/* open the device */
+	if ((dev = open(devname, 0)) < 0)
+		err(1, "can't open %s\n", devname);
+
+	/* reset mixers on the device */
+	if (ioctl(dev, MIXERIOCRESET, 0))
+		err(1, "can't reset mixers on %s", devname);
+
+	/* open the mixer definition file */
+	fp = fopen(fname, "r");
+	if (fp == NULL)
+		err(1, "can't open %s", fname);
+
+	/* read valid lines from the file into a buffer */
+	buf[0] = '\0';
+	for (;;) {
+
+		/* get a line, bail on error/EOF */
+		line[0] = '\0';
+		if (fgets(line, sizeof(line), fp) == NULL)
+			break;
+
+		/* if the line doesn't look like a mixer definition line, skip it */
+		if ((strlen(line) < 2) || !isupper(line[0]) || (line[1] != ':'))
+			continue;
+
+		/* compact whitespace in the buffer */
+		char *t, *f;
+		for (f = buf; *f != '\0'; f++) {
+			/* scan for space characters */
+			if (*f == ' ') {
+				/* look for additional spaces */
+				t = f + 1;
+				while (*t == ' ')
+					t++;
+				if (*t == '\0') {
+					/* strip trailing whitespace */
+					*f = '\0';
+				} else if (t > (f + 1)) {
+					memmove(f + 1, t, strlen(t) + 1);
+				}
+			}
+		}
+
+		/* if the line is too long to fit in the buffer, bail */
+		if ((strlen(line) + strlen(buf) + 1) >= sizeof(buf))
+			break;
+
+		/* add the line to the buffer */
+		strcat(buf, line);
+	}
+
+	/* XXX pass the buffer to the device */
+	int ret = ioctl(dev, MIXERIOCLOADBUF, (unsigned long)buf);
+
+	if (ret < 0)
+		err(1, "error loading mixers from %s", fname);
+	exit(0);
+}
diff --git a/src/systemcmds/mixer/module.mk b/src/systemcmds/mixer/module.mk
new file mode 100644
index 000000000..d5a3f9f77
--- /dev/null
+++ b/src/systemcmds/mixer/module.mk
@@ -0,0 +1,43 @@
+############################################################################
+#
+#   Copyright (c) 2012, 2013 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 the mixer tool.
+#
+
+MODULE_COMMAND	 = mixer
+SRCS		 = mixer.c
+
+MODULE_STACKSIZE = 4096
+
+MAXOPTIMIZATION	 = -Os