vmount: add 'vmount test' command to set a specific angle

src/drivers/vmount/CMakeLists.txt

@@ -40,6 +40,7 @@ px4_add_module(
 		input.cpp
 		input_mavlink.cpp
 		input_rc.cpp
+		input_test.cpp
 		output.cpp
 		output_mavlink.cpp
 		output_rc.cpp

src/drivers/vmount/input_test.cpp

+/****************************************************************************
+*
+*   Copyright (c) 2016 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 input_test.cpp
+ * @author Beat Küng <beat-kueng@gmx.net>
+ *
+ */
+
+#include "input_test.h"
+
+#include <px4_posix.h>
+
+
+namespace vmount
+{
+
+InputTest::InputTest(float roll_deg, float pitch_deg, float yaw_deg)
+{
+	_angles[0] = roll_deg;
+	_angles[1] = pitch_deg;
+	_angles[2] = yaw_deg;
+}
+
+bool InputTest::finished()
+{
+	return true; /* only a single-shot test (for now) */
+}
+
+int InputTest::update(unsigned int timeout_ms, ControlData **control_data)
+{
+	//we directly override the update() here, since we don't need the initialization from the base class
+
+	_control_data.type = ControlData::Type::Angle;
+
+	for (int i = 0; i < 3; ++i) {
+		_control_data.type_data.angle.is_speed[i] = false;
+		_control_data.type_data.angle.angles[i] = _angles[i] * M_DEG_TO_RAD_F;
+
+		_control_data.stabilize_axis[i] = false;
+	}
+
+	_control_data.gimbal_shutter_retract = false;
+	*control_data = &_control_data;
+	return 0;
+}
+
+int InputTest::initialize()
+{
+	return 0;
+}
+
+void InputTest::print_status()
+{
+	PX4_INFO("Input: Test");
+}
+
+} /* namespace vmount */

src/drivers/vmount/input_test.h

+/****************************************************************************
+*
+*   Copyright (c) 2016 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 input_test.h
+ * @author Beat Küng <beat-kueng@gmx.net>
+ *
+ */
+
+#pragma once
+
+#include "input.h"
+
+namespace vmount
+{
+
+/**
+ ** class InputTest
+ * Send a single control command, configured via constructor arguments
+ */
+class InputTest : public InputBase
+{
+public:
+
+	/**
+	 * set to a fixed angle
+	 */
+	InputTest(float roll_deg, float pitch_deg, float yaw_deg);
+	virtual ~InputTest() {}
+
+	/** check whether the test finished, and thus the main thread can quit */
+	bool finished();
+
+	virtual int update(unsigned int timeout_ms, ControlData **control_data);
+
+protected:
+	virtual int update_impl(unsigned int timeout_ms, ControlData **control_data) { return 0; } //not needed
+
+	virtual int initialize();
+
+	virtual void print_status();
+
+private:
+	float _angles[3]; /**< desired angles in [deg] */
+};
+
+
+} /* namespace vmount */

src/drivers/vmount/output_rc.cpp

@@ -51,6 +51,12 @@ OutputRC::OutputRC(const OutputConfig &output_config)
 	: OutputBase(output_config)
 {
 }
+OutputRC::~OutputRC()
+{
+	if (_actuator_controls_pub) {
+		orb_unadvertise(_actuator_controls_pub);
+	}
+}
 
 int OutputRC::update(const ControlData *control_data)
 {

src/drivers/vmount/output_rc.h

@@ -56,7 +56,7 @@ class OutputRC : public OutputBase
 {
 public:
 	OutputRC(const OutputConfig &output_config);
-	virtual ~OutputRC() { }
+	virtual ~OutputRC();
 
 	virtual int update(const ControlData *control_data);
 

src/drivers/vmount/vmount.cpp

@@ -49,9 +49,11 @@
 #include <unistd.h>
 #include <systemlib/err.h>
 #include <systemlib/systemlib.h>
+#include <px4_defines.h>
 
-#include "input_rc.h"
 #include "input_mavlink.h"
+#include "input_rc.h"
+#include "input_test.h"
 #include "output_rc.h"
 #include "output_mavlink.h"
 
@@ -118,7 +120,8 @@ extern "C" __EXPORT int vmount_main(int argc, char *argv[]);
 
 static void usage()
 {
-	PX4_INFO("usage: vmount {start|stop|status}");
+	PX4_INFO("usage: vmount {start|stop|status|test}");
+	PX4_INFO("       vmount test {roll|pitch|yaw} <angle_deg>");
 }
 
 static int vmount_thread_main(int argc, char *argv[])
@@ -127,6 +130,44 @@ static int vmount_thread_main(int argc, char *argv[])
 	Parameters params;
 	memset(&params, 0, sizeof(params));
 
+
+	InputTest *test_input = nullptr;
+
+	if (argc > 0 && !strcmp(argv[0], "test")) {
+		PX4_INFO("Starting in test mode");
+
+		const char *axis_names[3] = {"roll", "pitch", "yaw"};
+		float angles[3] = { 0.f, 0.f, 0.f };
+
+		if (argc == 3) {
+			bool found_axis = false;
+
+			for (int i = 0 ; i < 3; ++i) {
+				if (!strcmp(argv[1], axis_names[i])) {
+					long angle_deg = strtol(argv[2], NULL, 0);
+					angles[i] = (float)angle_deg;
+					found_axis = true;
+				}
+			}
+
+			if (!found_axis) {
+				usage();
+				return -1;
+			}
+
+			test_input = new InputTest(angles[0], angles[1], angles[2]);
+
+			if (!test_input) {
+				PX4_ERR("memory allocation failed");
+				return -1;
+			}
+
+		} else {
+			usage();
+			return -1;
+		}
+	}
+
 	if (!get_params(param_handles, params)) {
 		PX4_ERR("could not get mount parameters!");
 		return -1;
@@ -149,38 +190,43 @@ static int vmount_thread_main(int argc, char *argv[])
 			output_config.mavlink_sys_id = params.mnt_mav_sysid;
 			output_config.mavlink_comp_id = params.mnt_mav_compid;
 
-			if (params.mnt_man_control) {
-				manual_input = new InputRC(params.mnt_man_roll, params.mnt_man_pitch, params.mnt_man_yaw);
+			if (test_input) {
+				input_obj = test_input;
 
-				if (!manual_input) {
-					PX4_ERR("memory allocation failed");
-					break;
+			} else {
+				if (params.mnt_man_control) {
+					manual_input = new InputRC(params.mnt_man_roll, params.mnt_man_pitch, params.mnt_man_yaw);
+
+					if (!manual_input) {
+						PX4_ERR("memory allocation failed");
+						break;
+					}
 				}
-			}
 
-			switch (params.mnt_mode_in) {
-			case 1: //RC
-				if (manual_input) {
-					input_obj = manual_input;
-					manual_input = nullptr;
+				switch (params.mnt_mode_in) {
+				case 1: //RC
+					if (manual_input) {
+						input_obj = manual_input;
+						manual_input = nullptr;
 
-				} else {
-					input_obj = new InputRC(params.mnt_man_roll, params.mnt_man_pitch, params.mnt_man_yaw);
-				}
+					} else {
+						input_obj = new InputRC(params.mnt_man_roll, params.mnt_man_pitch, params.mnt_man_yaw);
+					}
 
-				break;
+					break;
 
-			case 2: //MAVLINK_ROI
-				input_obj = new InputMavlinkROI(manual_input);
-				break;
+				case 2: //MAVLINK_ROI
+					input_obj = new InputMavlinkROI(manual_input);
+					break;
 
-			case 3: //MAVLINK_DO_MOUNT
-				input_obj = new InputMavlinkCmdMount(manual_input);
-				break;
+				case 3: //MAVLINK_DO_MOUNT
+					input_obj = new InputMavlinkCmdMount(manual_input);
+					break;
 
-			default:
-				PX4_ERR("invalid input mode %i", params.mnt_mode_in);
-				break;
+				default:
+					PX4_ERR("invalid input mode %i", params.mnt_mode_in);
+					break;
+				}
 			}
 
 			switch (params.mnt_mode_out) {
@@ -199,6 +245,7 @@ static int vmount_thread_main(int argc, char *argv[])
 
 			if (!input_obj || !output_obj) {
 				PX4_ERR("memory allocation failed");
+				thread_should_exit = true;
 				break;
 			}
 
@@ -206,6 +253,7 @@ static int vmount_thread_main(int argc, char *argv[])
 
 			if (ret) {
 				PX4_ERR("failed to initialize output mode (%i)", ret);
+				thread_should_exit = true;
 				break;
 			}
 		}
@@ -234,6 +282,12 @@ static int vmount_thread_main(int argc, char *argv[])
 			usleep(1e6);
 		}
 
+		if (test_input && test_input->finished()) {
+			thread_should_exit = true;
+			break;
+		}
+
+
 		//check for parameter changes
 		bool updated;
 
@@ -310,7 +364,7 @@ int vmount_main(int argc, char *argv[])
 		return -1;
 	}
 
-	if (!strcmp(argv[1], "start")) {
+	if (!strcmp(argv[1], "start") || !strcmp(argv[1], "test")) {
 
 		/* this is not an error */
 		if (thread_running) {
@@ -324,13 +378,19 @@ int vmount_main(int argc, char *argv[])
 						     SCHED_PRIORITY_DEFAULT + 40,
 						     1200,
 						     vmount_thread_main,
-						     (char *const *)argv);
+						     (char *const *)argv + 1);
+
+		int counter = 0;
 
 		while (!thread_running && vmount_task >= 0) {
-			usleep(200);
+			usleep(5000);
+
+			if (++counter >= 100) {
+				break;
+			}
 		}
 
-		return 0;
+		return counter < 100 || thread_should_exit ? 0 : -1;
 	}
 
 	if (!strcmp(argv[1], "stop")) {