diff options
Diffstat (limited to 'src/modules/systemlib/mixer/mixer_group.cpp')
| -rw-r--r-- | src/modules/systemlib/mixer/mixer_group.cpp | 185 |
1 files changed, 185 insertions, 0 deletions
diff --git a/src/modules/systemlib/mixer/mixer_group.cpp b/src/modules/systemlib/mixer/mixer_group.cpp new file mode 100644 index 000000000..1dbc512cd --- /dev/null +++ b/src/modules/systemlib/mixer/mixer_group.cpp @@ -0,0 +1,185 @@ +/**************************************************************************** + * + * 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_group.cpp + * + * Mixer collection. + */ + +#include <nuttx/config.h> + +#include <sys/types.h> +#include <stdint.h> +#include <stdbool.h> +#include <stdlib.h> +#include <string.h> +#include <fcntl.h> +#include <poll.h> +#include <errno.h> +#include <stdio.h> +#include <math.h> +#include <unistd.h> + +#include "mixer.h" + +#define debug(fmt, args...) do { } while(0) +//#define debug(fmt, args...) do { printf("[mixer] " fmt "\n", ##args); } while(0) +//#include <debug.h> +//#define debug(fmt, args...) lowsyslog(fmt "\n", ##args) + +MixerGroup::MixerGroup(ControlCallback control_cb, uintptr_t cb_handle) : + Mixer(control_cb, cb_handle), + _first(nullptr) +{ +} + +MixerGroup::~MixerGroup() +{ + reset(); +} + +void +MixerGroup::add_mixer(Mixer *mixer) +{ + Mixer **mpp; + + mpp = &_first; + + while (*mpp != nullptr) + mpp = &((*mpp)->_next); + + *mpp = mixer; + mixer->_next = nullptr; +} + +void +MixerGroup::reset() +{ + Mixer *mixer; + + /* discard sub-mixers */ + while (_first != nullptr) { + mixer = _first; + _first = mixer->_next; + delete mixer; + mixer = nullptr; + } +} + +unsigned +MixerGroup::mix(float *outputs, unsigned space) +{ + Mixer *mixer = _first; + unsigned index = 0; + + while ((mixer != nullptr) && (index < space)) { + index += mixer->mix(outputs + index, space - index); + mixer = mixer->_next; + } + + return index; +} + +void +MixerGroup::groups_required(uint32_t &groups) +{ + Mixer *mixer = _first; + + while (mixer != nullptr) { + mixer->groups_required(groups); + mixer = mixer->_next; + } +} + +int +MixerGroup::load_from_buf(const char *buf, unsigned &buflen) +{ + int ret = -1; + const char *end = buf + buflen; + + /* + * Loop until either we have emptied the buffer, or we have failed to + * allocate something when we expected to. + */ + while (buflen > 0) { + Mixer *m = nullptr; + const char *p = end - buflen; + unsigned resid = buflen; + + /* + * Use the next character as a hint to decide which mixer class to construct. + */ + switch (*p) { + case 'Z': + m = NullMixer::from_text(p, resid); + break; + + case 'M': + m = SimpleMixer::from_text(_control_cb, _cb_handle, p, resid); + break; + + case 'R': + m = MultirotorMixer::from_text(_control_cb, _cb_handle, p, resid); + break; + + default: + /* it's probably junk or whitespace, skip a byte and retry */ + buflen--; + continue; + } + + /* + * If we constructed something, add it to the group. + */ + if (m != nullptr) { + add_mixer(m); + + /* we constructed something */ + ret = 0; + + /* only adjust buflen if parsing was successful */ + buflen = resid; + } else { + + /* + * There is data in the buffer that we expected to parse, but it didn't, + * so give up for now. + */ + break; + } + } + + /* nothing more in the buffer for us now */ + return ret; +} |