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/**
* The deamon app only briefly exists to start
* the background job. The stack size assigned in the
* Makefile does only apply to this management task.
*
* The actual stack size should be set in the call
* to task_create().
* http://nuttx.org/Documentation/NuttxUserGuide.html#taskcreate
*/
#include <nuttx/config.h>
#include <unistd.h>
#include <stdlib.h>
#include <stdio.h>
#include <string.h>
#include <stdbool.h>
#include <fcntl.h>
#include <float.h>
#include <nuttx/sched.h>
#include <sys/prctl.h>
#include <termios.h>
#include <errno.h>
#include <limits.h>
#include <math.h>
#include <uORB/uORB.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_range_finder.h>
#include <systemlib/perf_counter.h>
#include <systemlib/systemlib.h>
#include <systemlib/err.h>
#include <poll.h>
/**
* Minimal and maximal distances are get from
* http://www.maxbotix.com/documents/XL-MaxSonar-EZ_Datasheet.pdf
*/
#define MINIMAL_DISTANCE 20
#define MAXIMAL_DISTANCE 700
/**
* Experimentally found scale value
*/
#define DISTANCE_SCALE 0.01022f
__EXPORT int mb1230serial_main(int argc, char *argv[]);
int mb1230serial_thread_main(int argc, char *argv[]);
static bool thread_should_run = true; /**< Daemon running flag */
static bool thread_running = false; /**< Daemon status flag */
static int daemon_task; /**< Handle of daemon task / thread */
/**
* Print the correct usage.
*/
void
usage(const char *reason)
{
if (reason)
fprintf(stderr, "%s\n", reason);
fprintf(stderr, "usage: mb1230serial {start device_path | stop}\n\n");
exit(1);
}
int mb1230serial_main(int argc, char *argv[])
{
if (argc < 1)
usage("missing command");
if (!strcmp(argv[1], "start"))
{
if (thread_running)
{
warnx("already running\n");
/* this is not an error */
exit(0);
}
if (argc < 3)
{
usage("missing device path");
}
thread_should_run = true;
daemon_task = task_spawn_cmd("mb1230serial",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5,
2000,
mb1230serial_thread_main,
(argv) ? (const char **)&argv[2] : (const char **)NULL);
exit(0);
}
if (!strcmp(argv[1], "stop"))
{
thread_should_run = false;
exit(0);
}
usage("unrecognized command");
exit(1);
}
void cfsetraw(struct termios *termios_s)
{
termios_s->c_iflag &= ~(IGNBRK | BRKINT | PARMRK | ISTRIP
| INLCR | IGNCR | ICRNL | IXON);
termios_s->c_oflag &= ~OPOST;
termios_s->c_lflag &= ~(ECHO | ECHONL | ICANON | ISIG | IEXTEN);
termios_s->c_cflag &= ~(CSIZE | PARENB | CSTOPB);
termios_s->c_cflag |= CS8 | CLOCAL;
}
void setup_serial(int fd)
{
struct termios options;
int termios_state;
if ((termios_state = tcgetattr(fd, &options)) < 0)
{
close(fd);
err(-1, "ERR GET CONF: %d\n", termios_state);
}
cfsetraw(&options);
cfsetspeed(&options, B9600);
if ((termios_state = tcsetattr(fd, TCSANOW, &options)) < 0)
{
close(fd);
err(-1, "ERR SET CONF: %d\n", termios_state);
}
}
int mb1230serial_thread_main(int argc, char *argv[])
{
warnx("opening port %s", argv[1]);
int serial_fd = open(argv[1], O_RDONLY | O_NOCTTY);
if (serial_fd < 0)
{
err(1, "failed to open port: %s", argv[1]);
}
setup_serial(serial_fd);
char R = 0;
char raw_data[3];
int nread = 0;
int distance;
struct range_finder_report data = {
.error_count = 0,
.type = RANGE_FINDER_TYPE_ULTRASONIC,
.minimum_distance = MINIMAL_DISTANCE,
.maximum_distance = MAXIMAL_DISTANCE,
.valid = 1
};
orb_advert_t range_finder_pub = -1;
thread_running = true;
while (thread_should_run)
{
/*This runs at the rate of the sensors */
struct pollfd fds[] = {
{ .fd = serial_fd, .events = POLLIN }
};
/* wait for a sensor update, check for exit condition */
int ret = poll(fds, sizeof(fds) / sizeof(fds[0]), 1000);
if (ret < 0)
{
/* poll error, ignore */
}
else if (ret == 0)
{
/* no return value, ignore */
}
else
{
if (fds[0].revents & POLLIN)
{
if (R != 'R')
{
read(serial_fd, &R, sizeof(R));
}
else
{
nread += read(serial_fd, &raw_data[nread], sizeof(raw_data) - nread);
if (nread == 3)
{
nread = 0;
R = 0;
distance =
(raw_data[0] - '0') * 100 +
(raw_data[1] - '0') * 10 +
(raw_data[2] - '0');
if (distance >= MINIMAL_DISTANCE && distance <= MAXIMAL_DISTANCE) {
data.timestamp = hrt_absolute_time();
data.distance = (float)distance * DISTANCE_SCALE;
//printf("%llu: %.3f\n", data.timestamp, data.distance);
if (range_finder_pub > 0) {
orb_publish(ORB_ID(sensor_range_finder), range_finder_pub, &data);
} else {
range_finder_pub = orb_advertise(ORB_ID(sensor_range_finder), &data);
}
}
}
}
}
}
}
warnx("exiting");
thread_running = false;
fflush(stdout);
return 0;
}
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