Moved mixer file load / compression into mixer library.

8 files changed, 167 insertions, 51 deletions

diff --git a/src/modules/systemlib/mixer/mixer.cpp b/src/modules/systemlib/mixer/mixer.cpp
index b1bb1a66d..b4b82c539 100644
--- a/src/modules/systemlib/mixer/mixer.cpp
+++ b/src/modules/systemlib/mixer/mixer.cpp
@@ -50,6 +50,8 @@
 #include <stdio.h>
 #include <math.h>
 #include <unistd.h>
+#include <ctype.h>
+#include <systemlib/err.h>
 
 #include "mixer.h"
 
diff --git a/src/modules/systemlib/mixer/mixer.h b/src/modules/systemlib/mixer/mixer.h
index bbfa130a9..6c322ff92 100644
--- a/src/modules/systemlib/mixer/mixer.h
+++ b/src/modules/systemlib/mixer/mixer.h
@@ -128,7 +128,9 @@
 #ifndef _SYSTEMLIB_MIXER_MIXER_H
 #define _SYSTEMLIB_MIXER_MIXER_H value
 
+#include <nuttx/config.h>
 #include "drivers/drv_mixer.h"
+#include "mixer_load.h"
 
 /**
  * Abstract class defining a mixer mixing zero or more inputs to
diff --git a/src/modules/systemlib/mixer/mixer_load.c b/src/modules/systemlib/mixer/mixer_load.c
new file mode 100644
index 000000000..18c4e474a
--- /dev/null
+++ b/src/modules/systemlib/mixer/mixer_load.c
@@ -0,0 +1,99 @@
+/****************************************************************************
+ *
+ *   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_load.c
+ *
+ * Programmable multi-channel mixer library.
+ */
+
+#include <nuttx/config.h>
+#include <systemlib/err.h>
+#include <string.h>
+#include <stdio.h>
+#include <ctype.h>
+
+#include "mixer_load.h"
+
+int load_mixer_file(const char *fname, char *buf)
+{
+	FILE		*fp;
+	char		line[120];
+
+	/* 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);
+	}
+
+	return 0;
+}
+
diff --git a/src/modules/systemlib/mixer/mixer_load.h b/src/modules/systemlib/mixer/mixer_load.h
new file mode 100644
index 000000000..b2327a4f7
--- /dev/null
+++ b/src/modules/systemlib/mixer/mixer_load.h
@@ -0,0 +1,51 @@
+/****************************************************************************
+ *
+ *   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_load.h
+ *
+ */
+
+
+#ifndef _SYSTEMLIB_MIXER_LOAD_H
+#define _SYSTEMLIB_MIXER_LOAD_H value
+
+#include <nuttx/config.h>
+
+__BEGIN_DECLS
+
+__EXPORT int load_mixer_file(const char *fname, char *buf);
+
+__END_DECLS
+
+#endif
diff --git a/src/modules/systemlib/mixer/mixer_multirotor.cpp b/src/modules/systemlib/mixer/mixer_multirotor.cpp
index 2446cc3fb..89afc272c 100644
--- a/src/modules/systemlib/mixer/mixer_multirotor.cpp
+++ b/src/modules/systemlib/mixer/mixer_multirotor.cpp
@@ -130,7 +130,7 @@ const MultirotorMixer::Rotor _config_octa_plus[] = {
 	{  1.000000,  0.000000, -1.00 },
 	{ -1.000000,  0.000000, -1.00 },
 };
-const MultirotorMixer::Rotor *_config_index[MultirotorMixer::Geometry::MAX_GEOMETRY] = {
+const MultirotorMixer::Rotor *_config_index[MultirotorMixer::MAX_GEOMETRY] = {
 	&_config_quad_x[0],
 	&_config_quad_plus[0],
 	&_config_quad_v[0],
@@ -140,7 +140,7 @@ const MultirotorMixer::Rotor *_config_index[MultirotorMixer::Geometry::MAX_GEOME
 	&_config_octa_x[0],
 	&_config_octa_plus[0],
 };
-const unsigned _config_rotor_count[MultirotorMixer::Geometry::MAX_GEOMETRY] = {
+const unsigned _config_rotor_count[MultirotorMixer::MAX_GEOMETRY] = {
 	4, /* quad_x */
 	4, /* quad_plus */
 	4, /* quad_v */
diff --git a/src/modules/systemlib/mixer/module.mk b/src/modules/systemlib/mixer/module.mk
index 4d45e1c50..fc7485e20 100644
--- a/src/modules/systemlib/mixer/module.mk
+++ b/src/modules/systemlib/mixer/module.mk
@@ -39,4 +39,5 @@ LIBNAME	= mixerlib
 SRCS		= mixer.cpp \
 		  mixer_group.cpp \
 		  mixer_multirotor.cpp \
-		  mixer_simple.cpp
+		  mixer_simple.cpp \
+		  mixer_load.c
diff --git a/src/systemcmds/mixer/mixer.c b/src/systemcmds/mixer/mixer.cpp
index e642ed067..b1ebebbb4 100644
--- a/src/systemcmds/mixer/mixer.c
+++ b/src/systemcmds/mixer/mixer.cpp
@@ -47,10 +47,15 @@
 #include <nuttx/compiler.h>
 
 #include <systemlib/err.h>
-#include <drivers/drv_mixer.h>
+#include <systemlib/mixer/mixer.h>
 #include <uORB/topics/actuator_controls.h>
 
-__EXPORT int mixer_main(int argc, char *argv[]);
+/**
+ * Mixer utility for loading mixer files to devices
+ *
+ * @ingroup apps
+ */
+extern "C" __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;
@@ -87,8 +92,6 @@ static void
 load(const char *devname, const char *fname)
 {
 	int		dev;
-	FILE		*fp;
-	char		line[120];
 	char		buf[2048];
 
 	/* open the device */
@@ -99,49 +102,7 @@ load(const char *devname, const char *fname)
 	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);
-	}
+	load_mixer_file(fname, &buf[0]);
 
 	/* XXX pass the buffer to the device */
 	int ret = ioctl(dev, MIXERIOCLOADBUF, (unsigned long)buf);
diff --git a/src/systemcmds/mixer/module.mk b/src/systemcmds/mixer/module.mk
index d5a3f9f77..cdbff75f0 100644
--- a/src/systemcmds/mixer/module.mk
+++ b/src/systemcmds/mixer/module.mk
@@ -36,7 +36,7 @@
 #
 
 MODULE_COMMAND	 = mixer
-SRCS		 = mixer.c
+SRCS		 = mixer.cpp
 
 MODULE_STACKSIZE = 4096