diff options
-rw-r--r-- | makefiles/config_px4fmu-v2_default.mk | 1 | ||||
-rw-r--r-- | src/modules/serial_echo/module.mk | 42 | ||||
-rw-r--r-- | src/modules/serial_echo/serial_echo.cpp | 115 |
3 files changed, 158 insertions, 0 deletions
diff --git a/makefiles/config_px4fmu-v2_default.mk b/makefiles/config_px4fmu-v2_default.mk index 92f512287..8959379c0 100644 --- a/makefiles/config_px4fmu-v2_default.mk +++ b/makefiles/config_px4fmu-v2_default.mk @@ -156,6 +156,7 @@ MODULES += lib/launchdetection # Hardware test #MODULES += examples/hwtest +MODULES += modules/serial_echo # # Transitional support - add commands from the NuttX export archive. diff --git a/src/modules/serial_echo/module.mk b/src/modules/serial_echo/module.mk new file mode 100644 index 000000000..2c1f93719 --- /dev/null +++ b/src/modules/serial_echo/module.mk @@ -0,0 +1,42 @@ +############################################################################ +# +# 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. +# +############################################################################ + +# +# Basic example application +# + +MODULE_COMMAND = serial_echo + +CXXFLAGS += -std=c++11 -Dmain=$(MODULE_COMMAND)_main + +SRCS = serial_echo.cpp diff --git a/src/modules/serial_echo/serial_echo.cpp b/src/modules/serial_echo/serial_echo.cpp new file mode 100644 index 000000000..29bf59901 --- /dev/null +++ b/src/modules/serial_echo/serial_echo.cpp @@ -0,0 +1,115 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: @author Example User <mail@example.com> + * + * 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. + * + ****************************************************************************/ + +#include <nuttx/config.h> + +#include <fcntl.h> +#include <poll.h> +#include <unistd.h> + +#include <cstdio> +#include <cstdlib> +#include <cstring> + + +using namespace std; + + +extern "C" __EXPORT int +main(int argc, char ** const argv); + + +void +echo_forever(int dev) { + struct pollfd poll_dev; + poll_dev.fd = dev; + + char buf[32]; + ssize_t n = 0; + ssize_t sr, sw; + while (true) { + poll_dev.events = POLLIN; + if (n > 0) poll_dev.events |= POLLOUT; + + while (poll(&poll_dev, 1, 10000/*ms*/) != 1) + /* wait forever */ ; + + sr = 0; + sw = 0; + + if (poll_dev.revents & POLLIN) { + sr = read(dev, buf + n, sizeof(buf) - n); + if (sr > 0) n += sr; + } + + if (n > 0) { + sw = write(dev, buf, n); + if (sw > 0) + if (sw == n) n = 0; + else { + n -= sw; + memcpy(buf, buf + sw, n); + } + } + + if (n > 0 or sr > 0 or sw > 0) + fprintf(stderr, "n %d sr %d sw %d\n", n, sr, sw); + } + +} + + +void +usage(const char * name) +{ + fprintf(stderr, + "_Forever_ reads data from a char-device and writes it back\n" + "Usage: %s tty_device\n", + name); + exit(1); +} + +int +main(int argc, char ** const argv) +{ + if (argc != 2) usage(argv[0]); + + int dev = open(argv[1], O_RDWR | O_NONBLOCK | O_NOCTTY ); + if (dev < 0) { + perror("open"); + usage(argv[0]); + } + + echo_forever(dev); +} |