mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-20 03:13:44 +08:00
systemcmds: add new command led_control
This can be used to test & control the new uorb-based led backend.
This commit is contained in:
Beat Küng
Lorenz Meier
@@ -0,0 +1,43 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2017 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.
|
||||
#
|
||||
############################################################################
|
||||
px4_add_module(
|
||||
MODULE systemcmds__led_control
|
||||
MAIN led_control
|
||||
STACK_MAIN 2500
|
||||
COMPILE_FLAGS
|
||||
SRCS
|
||||
led_control.cpp
|
||||
DEPENDS
|
||||
platforms__common
|
||||
)
|
||||
# vim: set noet ft=cmake fenc=utf-8 ff=unix :
|
||||
@@ -0,0 +1,250 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2017 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 led_control.cpp
|
||||
*
|
||||
* Command-line tool to control & test the (external) LED's.
|
||||
* To use it make sure there's a driver running, which handles the led_control uorb topic.
|
||||
*/
|
||||
|
||||
#include <px4_getopt.h>
|
||||
#include <px4_log.h>
|
||||
|
||||
#include <unistd.h>
|
||||
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <drivers/drv_led.h>
|
||||
|
||||
static void usage(void);
|
||||
|
||||
static orb_advert_t led_control_pub = nullptr;
|
||||
|
||||
extern "C" {
|
||||
__EXPORT int led_control_main(int argc, char *argv[]);
|
||||
}
|
||||
|
||||
static void
|
||||
usage()
|
||||
{
|
||||
PX4_INFO(
|
||||
"External Led control for testing. Usage:\n"
|
||||
"led_control test\t\tRun test pattern\n"
|
||||
"led_control {on, off, reset, blink} [-c <color>] [-l <led>] [-n <num_blink>] [-s <speed>] [-p <prio>]\n"
|
||||
"\n"
|
||||
"\t-c <color>\t\tColor (red,blue,green,yellow,purple,amber,cyan,white) (default=white)\n"
|
||||
"\t-l <led>\t\tWhich led to control (0,1,...) (default=all)\n"
|
||||
"\t-n <num_blink>\t\tNumber of blinks (default=3)\n"
|
||||
"\t-s <speed>\t\tHow fast to blink (fast,normal,slow) (default=normal)\n"
|
||||
"\t-p <prio>\t\tControl priority (0,1,2) (default=maximum)\n"
|
||||
);
|
||||
}
|
||||
|
||||
static void publish_led_control(led_control_s &led_control)
|
||||
{
|
||||
led_control.timestamp = hrt_absolute_time();
|
||||
|
||||
if (led_control_pub == nullptr) {
|
||||
led_control_pub = orb_advertise_queue(ORB_ID(led_control), &led_control, LED_UORB_QUEUE_LENGTH);
|
||||
|
||||
} else {
|
||||
orb_publish(ORB_ID(led_control), led_control_pub, &led_control);
|
||||
}
|
||||
}
|
||||
|
||||
static void run_led_test1()
|
||||
{
|
||||
PX4_INFO("generating LED pattern...");
|
||||
|
||||
led_control_s led_control = {};
|
||||
led_control.led_mask = 0xff;
|
||||
led_control.mode = led_control_s::MODE_OFF;
|
||||
led_control.priority = led_control_s::MAX_PRIORITY;
|
||||
publish_led_control(led_control);
|
||||
|
||||
usleep(200 * 1000);
|
||||
|
||||
// generate some pattern
|
||||
for (int round = led_control_s::COLOR_RED; round <= led_control_s::COLOR_WHITE; ++round) {
|
||||
for (int led = 0; led < BOARD_MAX_LEDS; ++led) {
|
||||
led_control.led_mask = 1 << led;
|
||||
led_control.mode = led_control_s::MODE_ON;
|
||||
led_control.color = round;
|
||||
publish_led_control(led_control);
|
||||
usleep(80 * 1000);
|
||||
}
|
||||
|
||||
usleep(100 * 1000);
|
||||
led_control.led_mask = 0xff;
|
||||
|
||||
for (int i = 0; i < 3; ++i) {
|
||||
led_control.mode = led_control_s::MODE_ON;
|
||||
publish_led_control(led_control);
|
||||
usleep(100 * 1000);
|
||||
led_control.mode = led_control_s::MODE_OFF;
|
||||
publish_led_control(led_control);
|
||||
usleep(100 * 1000);
|
||||
}
|
||||
|
||||
usleep(200 * 1000);
|
||||
}
|
||||
|
||||
usleep(500 * 1000);
|
||||
|
||||
// reset
|
||||
led_control.led_mask = 0xff;
|
||||
led_control.mode = led_control_s::MODE_DISABLED;
|
||||
publish_led_control(led_control);
|
||||
|
||||
PX4_INFO("Done");
|
||||
}
|
||||
|
||||
int
|
||||
led_control_main(int argc, char *argv[])
|
||||
{
|
||||
int myoptind = 1;
|
||||
int ch;
|
||||
const char *myoptarg = NULL;
|
||||
uint8_t blink_speed = led_control_s::MODE_BLINK_NORMAL;
|
||||
led_control_s led_control = {};
|
||||
led_control.num_blinks = 3;
|
||||
led_control.priority = led_control_s::MAX_PRIORITY;
|
||||
led_control.mode = 0xff;
|
||||
led_control.led_mask = 0xff;
|
||||
led_control.color = led_control_s::COLOR_WHITE;
|
||||
|
||||
while ((ch = px4_getopt(argc, argv, "c:l:n:s:p:", &myoptind, &myoptarg)) != EOF) {
|
||||
switch (ch) {
|
||||
case 'c':
|
||||
if (!strcmp(myoptarg, "red")) {
|
||||
led_control.color = led_control_s::COLOR_RED;
|
||||
|
||||
} else if (!strcmp(myoptarg, "blue")) {
|
||||
led_control.color = led_control_s::COLOR_BLUE;
|
||||
|
||||
} else if (!strcmp(myoptarg, "green")) {
|
||||
led_control.color = led_control_s::COLOR_GREEN;
|
||||
|
||||
} else if (!strcmp(myoptarg, "yellow")) {
|
||||
led_control.color = led_control_s::COLOR_YELLOW;
|
||||
|
||||
} else if (!strcmp(myoptarg, "purple")) {
|
||||
led_control.color = led_control_s::COLOR_PURPLE;
|
||||
|
||||
} else if (!strcmp(myoptarg, "amber")) {
|
||||
led_control.color = led_control_s::COLOR_AMBER;
|
||||
|
||||
} else if (!strcmp(myoptarg, "cyan")) {
|
||||
led_control.color = led_control_s::COLOR_CYAN;
|
||||
|
||||
} else if (!strcmp(myoptarg, "white")) {
|
||||
led_control.color = led_control_s::COLOR_WHITE;
|
||||
|
||||
} else {
|
||||
usage();
|
||||
return 1;
|
||||
}
|
||||
|
||||
break;
|
||||
|
||||
case 'l':
|
||||
led_control.led_mask = 1 << strtol(myoptarg, NULL, 0);
|
||||
break;
|
||||
|
||||
case 'n':
|
||||
led_control.num_blinks = strtol(myoptarg, NULL, 0);
|
||||
break;
|
||||
|
||||
case 's':
|
||||
if (!strcmp(myoptarg, "fast")) {
|
||||
blink_speed = led_control_s::MODE_BLINK_FAST;
|
||||
|
||||
} else if (!strcmp(myoptarg, "normal")) {
|
||||
blink_speed = led_control_s::MODE_BLINK_NORMAL;
|
||||
|
||||
} else if (!strcmp(myoptarg, "slow")) {
|
||||
blink_speed = led_control_s::MODE_BLINK_SLOW;
|
||||
|
||||
} else {
|
||||
usage();
|
||||
return 1;
|
||||
}
|
||||
|
||||
break;
|
||||
|
||||
case 'p':
|
||||
led_control.priority = strtol(myoptarg, NULL, 0);
|
||||
break;
|
||||
|
||||
default:
|
||||
usage();
|
||||
return -1;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
if (led_control.priority > led_control_s::MAX_PRIORITY) {
|
||||
led_control.priority = led_control_s::MAX_PRIORITY;
|
||||
}
|
||||
|
||||
if (myoptind >= argc) {
|
||||
usage();
|
||||
return 1;
|
||||
}
|
||||
|
||||
if (!strcmp(argv[myoptind], "test")) {
|
||||
run_led_test1();
|
||||
|
||||
} else if (!strcmp(argv[myoptind], "on")) {
|
||||
led_control.mode = led_control_s::MODE_ON;
|
||||
|
||||
} else if (!strcmp(argv[myoptind], "off")) {
|
||||
led_control.mode = led_control_s::MODE_OFF;
|
||||
|
||||
} else if (!strcmp(argv[myoptind], "reset")) {
|
||||
led_control.mode = led_control_s::MODE_DISABLED;
|
||||
|
||||
} else if (!strcmp(argv[myoptind], "blink")) {
|
||||
led_control.mode = blink_speed;
|
||||
|
||||
} else {
|
||||
usage();
|
||||
return 1;
|
||||
}
|
||||
|
||||
if (led_control.mode != 0xff) {
|
||||
publish_led_control(led_control);
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
Reference in New Issue
Block a user