From fae32b062cc8a37222ca16123d7f781243b51670 Mon Sep 17 00:00:00 2001
From: Brendan Bartels <bbartels@iastate.edu>
Date: Fri, 21 Apr 2017 12:50:49 -0500
Subject: [PATCH] quad: improve virtual quad cli
---
quad/scripts/tests/test_communication.rb | 8 +-
quad/scripts/tests/test_logging.rb | 4 +-
quad/scripts/tests/test_memory_integrity.rb | 2 +-
quad/scripts/tests/test_safety_checks.rb | 2 +-
quad/src/virt_quad/README.md | 15 +-
quad/src/virt_quad/main.c | 223 ++++++++++++++------
6 files changed, 176 insertions(+), 78 deletions(-)
diff --git a/quad/scripts/tests/test_communication.rb b/quad/scripts/tests/test_communication.rb
index 4887a29bc..8797cc16d 100644
--- a/quad/scripts/tests/test_communication.rb
+++ b/quad/scripts/tests/test_communication.rb
@@ -16,7 +16,7 @@ Timeout::timeout(30) {
puts("Setting up...")
# Start virtual quad
- quad_pid = Process.spawn("./virt-quad -q",
+ quad_pid = Process.spawn("./virt-quad start -q",
{ :rlimit_as => 536870912, # 512 MiB total RAM
:rlimit_stack => 1048576}) # 1 MiB stack
@@ -49,7 +49,7 @@ Timeout::timeout(30) {
# Send a debug command
Thread.new {
- sleep 0.1
+ sleep 0.5
send_packet [0xBE, 1, 0, 0, 0, 0, 0, 0xBF]
}
@@ -58,7 +58,7 @@ Timeout::timeout(30) {
# Receive the header
msg = []
for i in 1..7
- sleep 0.0001
+ sleep 0.01
c = fifo.read(1)
msg.push(c)
end
@@ -68,7 +68,7 @@ Timeout::timeout(30) {
msg = []
for i in 1..length
- sleep 0.0001
+ sleep 0.01
c = fifo.read(1)
msg.push(c)
end
diff --git a/quad/scripts/tests/test_logging.rb b/quad/scripts/tests/test_logging.rb
index a0e86e716..58d16f73c 100644
--- a/quad/scripts/tests/test_logging.rb
+++ b/quad/scripts/tests/test_logging.rb
@@ -16,7 +16,7 @@ Timeout::timeout(30) {
puts("Setting up...")
# Start virtual quad
- quad_pid = Process.spawn("./virt-quad -q",
+ quad_pid = Process.spawn("./virt-quad start -q",
{ :rlimit_as => 536870912, # 512 MiB total RAM
:rlimit_stack => 1048576}) # 1 MiB stack
@@ -83,7 +83,7 @@ Timeout::timeout(30) {
# Get logs
Thread.new {
- sleep 0.5
+ sleep 1
puts("Swiching off GEAR...")
set_gear GEAR_OFF
}
diff --git a/quad/scripts/tests/test_memory_integrity.rb b/quad/scripts/tests/test_memory_integrity.rb
index d7116c1d4..adb8f9190 100644
--- a/quad/scripts/tests/test_memory_integrity.rb
+++ b/quad/scripts/tests/test_memory_integrity.rb
@@ -14,7 +14,7 @@ Dir.chdir(bin_dir)
puts("Firing up the quad...")
# Start virtual quad
-quad = Process.spawn("valgrind --leak-check=full --log-file=./valgrind.out ./virt-quad")
+quad = Process.spawn("valgrind --leak-check=full --log-file=./valgrind.out ./virt-quad start")
sleep 1.5
diff --git a/quad/scripts/tests/test_safety_checks.rb b/quad/scripts/tests/test_safety_checks.rb
index c5557cece..c96a8228f 100644
--- a/quad/scripts/tests/test_safety_checks.rb
+++ b/quad/scripts/tests/test_safety_checks.rb
@@ -17,7 +17,7 @@ Timeout::timeout(60) {
puts("Setting up...")
# Start virtual quad
- quad_pid = Process.spawn("./virt-quad -q",
+ quad_pid = Process.spawn("./virt-quad start -q",
{ :rlimit_as => 536870912, # 512 MiB total RAM
:rlimit_stack => 1048576}) # 1 MiB stack
diff --git a/quad/src/virt_quad/README.md b/quad/src/virt_quad/README.md
index 3607ec44c..3b263e528 100644
--- a/quad/src/virt_quad/README.md
+++ b/quad/src/virt_quad/README.md
@@ -8,17 +8,18 @@ plethoria of things required for flight in Coover 3050. In fact, you don't
even have to be in Coover 3050...
# Using the Virtual Quad
-Start it up:
+The virt-quad has help output. Get started with:
```
-make run
+./virt-quad
```
-And you can do things with it. You'll notice it will make a bunch of FIFOs in
-the current directory. Write to / read from these FIFOs as you see fit.
+## Using the UART Driver
-## Writing to FIFO from shell
+The UART interface is implemented with unix FIFOs. You can treat these FIFOs
+as regular unix files. Read from uart-tx to hear with the quad is saying. Write
+to uart-rx to tell the quad something.
```
-echo "170000" > virt-quad-fifos/pwm-input-gear # Setting the gear to '1'
-cat virt-quad-fifos/pwm-output-motor1 # Read the motor 1 pwm signal
+echo "hello world" > virt-quad-fifos/uart-rx
+cat virt-quad-fifos/uart-tx
```
\ No newline at end of file
diff --git a/quad/src/virt_quad/main.c b/quad/src/virt_quad/main.c
index 105a8a5e6..1e24ab458 100644
--- a/quad/src/virt_quad/main.c
+++ b/quad/src/virt_quad/main.c
@@ -4,15 +4,28 @@
#include "quad_app.h"
#include <fcntl.h>
+struct VirtQuadIO *virt_quad_io;
+int virt_quad_io_file_descriptor;
+
+enum CLISubCommand {
+ START,
+ GET,
+ SET,
+ USAGE,
+ HELP,
+};
+
+int start_virt_quad(char *argv[]);
int handle_io_output(const char *name);
int handle_io_input(const char *name, const char *value_str);
void set_shm(float value, float *dest, pthread_mutex_t *lock);
void print_shm_float(float *value, pthread_mutex_t *lock);
void print_shm_int(int *value, pthread_mutex_t *lock);
void usage(char *executable_name);
-
-struct VirtQuadIO *virt_quad_io;
-int virt_quad_io_file_descriptor;
+enum CLISubCommand parse_sub_command(char *argv[]);
+void open_new_shm_io();
+void open_existing_shm_io();
+void help_sub_command(char *argv[]);
/**
* Implement each of the hardware interfaces.
@@ -33,61 +46,91 @@ int setup_hardware(hardware_t *hardware) {
}
int main(int argc, char *argv[]) {
- int fd;
+ enum CLISubCommand sub_command = parse_sub_command(argv + 1);
+
+ switch (sub_command) {
+ case START:
+ open_new_shm_io();
+ start_virt_quad(argv + 2); // will block
+ break;
+ case SET:
+ open_existing_shm_io();
+ handle_io_input(argv[2], argv[3]);
+ break;
+ case GET:
+ open_existing_shm_io();
+ handle_io_output(argv[2]);
+ break;
+ case HELP:
+ help_sub_command(argv);
+ break;
+ case USAGE:
+ usage(argv[0]);
+ break;
+ }
- // Decide if we are launching the quad or parsing arguments
- if (argv[1] == NULL || strcmp(argv[1], "-q") == 0) {
- // launch the quad
-
- // Allow making the quad quiet
- if (argv[1] != NULL && strcmp(argv[1], "-q") == 0) {
- fd = open("/dev/null", O_WRONLY);
- close(STDOUT_FILENO);
- dup2(STDOUT_FILENO, fd);
- }
-
- // Prepare the shared memory for io. Clear memory and initialize.
- int *fd = &virt_quad_io_file_descriptor;
- *fd = shm_open(VIRT_QUAD_SHARED_MEMORY, O_CREAT | O_RDWR | O_TRUNC, 0666);
- ftruncate(*fd, sizeof(struct VirtQuadIO));
- virt_quad_io = mmap(NULL, sizeof(struct VirtQuadIO), PROT_READ | PROT_WRITE, MAP_SHARED, *fd, 0);
- pthread_mutexattr_t attr;
- pthread_mutexattr_init(&attr);
- pthread_mutexattr_setpshared(&attr, PTHREAD_PROCESS_SHARED);
- pthread_mutex_init(&virt_quad_io->led_lock, &attr);
- pthread_mutex_init(&virt_quad_io->motors_lock, &attr);
- pthread_mutex_init(&virt_quad_io->rc_lock, &attr);
+ return 0;
+}
+
+enum CLISubCommand parse_sub_command(char *argv[]) {
+ if (argv[0] == NULL) {
+ return USAGE;
+ }
+ else if (strcmp(argv[0], "start") == 0) {
+ return START;
+ }
+ else if (strcmp(argv[0], "help") == 0) {
+ return HELP;
+ }
+ else if (strcmp(argv[0], "get") == 0 && argv[1] != NULL) {
+ return GET;
+ }
+ else if (strcmp(argv[0], "set") == 0 && argv[1] != NULL && argv[2] != NULL) {
+ return SET;
}
else {
- // parse command line arguments
+ return USAGE;
+ }
+}
- // Open exising shared memory for io. DO NOT CLEAR.
- int *fd = &virt_quad_io_file_descriptor;
- *fd = shm_open(VIRT_QUAD_SHARED_MEMORY, O_CREAT | O_RDWR, 0666);
- virt_quad_io = mmap(NULL, sizeof(struct VirtQuadIO), PROT_READ | PROT_WRITE, MAP_SHARED, *fd, 0);
+int start_virt_quad(char *argv[]) {
+ int fd;
- if (strcmp(argv[1], "--help") == 0 || strcmp(argv[1], "-h") == 0) {
- usage(argv[0]);
- exit(0);
- }
- else if (strcmp(argv[1], "get") == 0 && argv[2] != NULL) {
- handle_io_output(argv[2]);
- }
- else if (strcmp(argv[1], "set") == 0 && argv[2] != NULL && argv[3] != NULL) {
- handle_io_input(argv[2], argv[3]);
- }
- else {
- puts("Error in parsing commands");
- usage(argv[0]);
- }
- return 0;
+ // Allow making the quad quiet
+ if (argv[0] != NULL && strcmp(argv[0], "-q") == 0) {
+ fd = open("/dev/null", O_WRONLY);
+ close(STDOUT_FILENO);
+ dup2(STDOUT_FILENO, fd);
}
- puts("Starting the quad application");
+ puts("Starting the virtual quad.");
+ puts("Open another tab to query and control the virt quad, using the get and set commands.");
quad_main(setup_hardware);
return 0;
}
+void open_new_shm_io() {
+ // Prepare the shared memory for io. Clear memory and initialize.
+ int *fd = &virt_quad_io_file_descriptor;
+ *fd = shm_open(VIRT_QUAD_SHARED_MEMORY, O_CREAT | O_RDWR | O_TRUNC, 0666);
+ ftruncate(*fd, sizeof(struct VirtQuadIO));
+ virt_quad_io = mmap(NULL, sizeof(struct VirtQuadIO), PROT_READ | PROT_WRITE, MAP_SHARED, *fd, 0);
+ pthread_mutexattr_t attr;
+ pthread_mutexattr_init(&attr);
+ pthread_mutexattr_setpshared(&attr, PTHREAD_PROCESS_SHARED);
+ pthread_mutex_init(&virt_quad_io->led_lock, &attr);
+ pthread_mutex_init(&virt_quad_io->motors_lock, &attr);
+ pthread_mutex_init(&virt_quad_io->rc_lock, &attr);
+}
+
+void open_existing_shm_io() {
+ // Open exising shared memory for io. DO NOT CLEAR.
+ int *fd = &virt_quad_io_file_descriptor;
+ *fd = shm_open(VIRT_QUAD_SHARED_MEMORY, O_CREAT | O_RDWR, 0666);
+ virt_quad_io = mmap(NULL, sizeof(struct VirtQuadIO), PROT_READ | PROT_WRITE, MAP_SHARED, *fd, 0);
+}
+
+
/**
* The user wants to read an output by name. Get the output
* and print to stdout.
@@ -203,25 +246,79 @@ void print_shm_int(int *value, pthread_mutex_t *lock) {
}
void usage(char *executable_name) {
- printf("Usage: %s [ -h | --help | -q ] [ command ]\n", executable_name);
+ printf("Usage: %s command [ args ]\n", executable_name);
puts("Overview:");
puts(" The virtual quad emulates the behavior of the real quad in the Unix");
puts(" environment. Start the virtual quad in one tab (no arguments), and");
puts(" then control the I/O of the quad through commands.");
+ puts("");
+ puts(" For help on a particular command, pass the command name to the help command");
+ puts(" Example:");
+ printf(" %s help get\n", executable_name);
+ puts("");
puts("Commands:");
- puts(" get output");
- puts(" set input value");
- puts("Outpus:");
- puts(" led");
- puts(" motors");
- puts("Inputs:");
- puts(" rc_gear");
- puts(" rc_flap");
- puts(" rc_throttle");
- puts(" rc_pitch");
- puts(" rc_roll");
- puts(" rc_yaw");
- puts("Examples:");
- printf(" %s get led # prints 0 or 1 to stdout\n", executable_name);
- printf(" in%s set rc_gear 1 # sets gear to \"on\" \n", executable_name);
+ puts(" help");
+ puts(" get");
+ puts(" set");
+ puts(" start");
+ puts("");
+}
+
+void help_sub_command(char *argv[]) {
+ if (argv[2] == NULL) {
+ usage(argv[0]);
+ }
+ else if (strcmp(argv[2], "help") == 0) {
+ puts("Really?");
+ }
+ else if (strcmp(argv[2], "get") == 0) {
+ printf("Usage: %s get output_name\n", argv[0]);
+ puts("");
+ puts(" Get an output on the virtual quad, specified by its output_name, and print");
+ puts(" to stdout");
+ puts("");
+ puts(" Possible output names");
+ puts(" led");
+ puts(" motor1");
+ puts(" motor2");
+ puts(" motor3");
+ puts(" motor4");
+ puts("");
+ }
+ else if (strcmp(argv[2], "set") == 0) {
+ printf("Usage: %s set input_name val\n", argv[0]);
+ puts("");
+ puts(" Set the value of an input on the quad, specified by its input_name");
+ puts("");
+ puts(" Possible input names");
+ puts(" rc_throttle");
+ puts(" rc_pitch");
+ puts(" rc_roll");
+ puts(" rc_yaw");
+ puts(" rc_gear");
+ puts(" rc_flap");
+ puts(" i2c_imu_x");
+ puts(" i2c_imu_y");
+ puts(" i2c_imu_z");
+ puts(" i2c_imu_p");
+ puts(" i2c_imu_q");
+ puts(" i2c_imu_r");
+ puts(" i2c_imu_mag_x");
+ puts(" i2c_imu_mag_y");
+ puts(" i2c_imu_mag_z");
+ puts("");
+ }
+ else if (strcmp(argv[2], "start") == 0) {
+ printf("Usage: %s start [ -q ]\n", argv[0]);
+ puts("");
+ puts(" Start the virtual quad. Exit using ctrl-c. In order to get and set I/O,");
+ puts(" you'll need to open another tab.");
+ puts("");
+ puts(" Flags");
+ puts(" q - Keep the quad quiet; don't print logs to the stdout");
+ puts("");
+ }
+ else {
+ usage(argv[0]);
+ }
}
--
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