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/****************************************************************************
*
* 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)
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;
}
}
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;
}
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