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/****************************************************************************
*
* Copyright (c) 2014 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 matlab_csv_serial_main.c
*
* Matlab CSV / ASCII format interface at 921600 baud, 8 data bits,
* 1 stop bit, no parity
*
* @author Lorenz Meier <lm@inf.ethz.ch>
*/
#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 <drivers/drv_hrt.h>
#include <termios.h>
#include <errno.h>
#include <limits.h>
#include <math.h>
#include <uORB/uORB.h>
#include <drivers/drv_accel.h>
#include <drivers/drv_gyro.h>
#include <systemlib/perf_counter.h>
#include <systemlib/systemlib.h>
#include <systemlib/err.h>
#include <poll.h>
__EXPORT int matlab_csv_serial_main(int argc, char *argv[]);
static bool thread_should_exit = false; /**< Daemon exit flag */
static bool thread_running = false; /**< Daemon status flag */
static int daemon_task; /**< Handle of daemon task / thread */
int matlab_csv_serial_thread_main(int argc, char *argv[]);
static void usage(const char *reason);
static void usage(const char *reason)
{
if (reason)
fprintf(stderr, "%s\n", reason);
fprintf(stderr, "usage: daemon {start|stop|status} [-p <additional params>]\n\n");
exit(1);
}
/**
* The daemon 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_spawn_cmd().
*/
int matlab_csv_serial_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);
}
thread_should_exit = false;
daemon_task = task_spawn_cmd("matlab_csv_serial",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5,
2000,
matlab_csv_serial_thread_main,
(argv) ? (char * const *)&argv[2] : (char * const *)NULL);
exit(0);
}
if (!strcmp(argv[1], "stop"))
{
thread_should_exit = true;
exit(0);
}
if (!strcmp(argv[1], "status"))
{
if (thread_running) {
warnx("running");
} else {
warnx("stopped");
}
exit(0);
}
usage("unrecognized command");
exit(1);
}
int matlab_csv_serial_thread_main(int argc, char *argv[])
{
if (argc < 2) {
errx(1, "need a serial port name as argument");
}
const char* uart_name = argv[1];
warnx("opening port %s", uart_name);
int serial_fd = open(uart_name, O_RDWR | O_NOCTTY);
unsigned speed = 921600;
if (serial_fd < 0) {
err(1, "failed to open port: %s", uart_name);
}
/* Try to set baud rate */
struct termios uart_config;
int termios_state;
/* Back up the original uart configuration to restore it after exit */
if ((termios_state = tcgetattr(serial_fd, &uart_config)) < 0) {
warnx("ERR GET CONF %s: %d\n", uart_name, termios_state);
close(serial_fd);
return -1;
}
/* Clear ONLCR flag (which appends a CR for every LF) */
uart_config.c_oflag &= ~ONLCR;
/* USB serial is indicated by /dev/ttyACM0*/
if (strcmp(uart_name, "/dev/ttyACM0") != OK && strcmp(uart_name, "/dev/ttyACM1") != OK) {
/* Set baud rate */
if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
warnx("ERR SET BAUD %s: %d\n", uart_name, termios_state);
close(serial_fd);
return -1;
}
}
if ((termios_state = tcsetattr(serial_fd, TCSANOW, &uart_config)) < 0) {
warnx("ERR SET CONF %s\n", uart_name);
close(serial_fd);
return -1;
}
/* subscribe to vehicle status, attitude, sensors and flow*/
struct accel_report accel0;
struct accel_report accel1;
struct gyro_report gyro0;
struct gyro_report gyro1;
/* subscribe to parameter changes */
int accel0_sub = orb_subscribe(ORB_ID(sensor_accel0));
int accel1_sub = orb_subscribe(ORB_ID(sensor_accel1));
int gyro0_sub = orb_subscribe(ORB_ID(sensor_gyro0));
int gyro1_sub = orb_subscribe(ORB_ID(sensor_gyro1));
thread_running = true;
while (!thread_should_exit)
{
/*This runs at the rate of the sensors */
struct pollfd fds[] = {
{ .fd = accel0_sub, .events = POLLIN }
};
/* wait for a sensor update, check for exit condition every 500 ms */
int ret = poll(fds, sizeof(fds) / sizeof(fds[0]), 500);
if (ret < 0)
{
/* poll error, ignore */
}
else if (ret == 0)
{
/* no return value, ignore */
warnx("no sensor data");
}
else
{
/* accel0 update available? */
if (fds[0].revents & POLLIN)
{
orb_copy(ORB_ID(sensor_accel0), accel0_sub, &accel0);
orb_copy(ORB_ID(sensor_accel1), accel1_sub, &accel1);
orb_copy(ORB_ID(sensor_gyro0), gyro0_sub, &gyro0);
orb_copy(ORB_ID(sensor_gyro1), gyro1_sub, &gyro1);
// write out on accel 0, but collect for all other sensors as they have updates
dprintf(serial_fd, "%llu,%d,%d,%d,%d,%d,%d\n", accel0.timestamp, (int)accel0.x_raw, (int)accel0.y_raw, (int)accel0.z_raw,
(int)accel1.x_raw, (int)accel1.y_raw, (int)accel1.z_raw);
}
}
}
warnx("exiting");
thread_running = false;
fflush(stdout);
return 0;
}
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