cm8jl65_main.cpp

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 *
 *   Copyright (c) 2018-2019 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.
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 *    notice, this list of conditions and the following disclaimer in
 *    the documentation and/or other materials provided with the
 *    distribution.
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 *    used to endorse or promote products derived from this software
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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#include <px4_platform_common/cli.h>
#include <px4_platform_common/getopt.h>

#include "CM8JL65.hpp"

/**
 * Local functions in support of the shell command.
 */
namespace cm8jl65
{

CM8JL65 *g_dev;

int reset(const char *port);
int start(const char *port, const uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING);
int status();
int stop();
int usage();

/**
 * Reset the driver.
 */
int
reset(const char *port)
{
    if (stop() == PX4_OK) {
        return start(port);
    }

    return PX4_ERROR;
}

/**
 * Start the driver.
 */
int
start(const char *port, const uint8_t rotation)
{
    if (port == nullptr) {
        PX4_ERR("invalid port");
        return PX4_ERROR;
    }

    if (g_dev != nullptr) {
        PX4_INFO("already started");
        return PX4_OK;
    }

    // Instantiate the driver.
    g_dev = new CM8JL65(port, rotation);

    if (g_dev == nullptr) {
        PX4_ERR("object instantiate failed");
        return PX4_ERROR;
    }

    if (g_dev->init() != PX4_OK) {
        PX4_ERR("driver start failed");
        delete g_dev;
        g_dev = nullptr;
        return PX4_ERROR;
    }

    return PX4_OK;
}

/**
 * Print the driver status.
 */
int
status()
{
    if (g_dev == nullptr) {
        PX4_ERR("driver not running");
        return PX4_ERROR;
    }

    g_dev->print_info();

    return PX4_OK;
}

/**
 * Stop the driver
 */
int stop()
{
    if (g_dev != nullptr) {
        delete g_dev;
        g_dev = nullptr;
    }

    return PX4_ERROR;
}

int
usage()
{
    PX4_INFO("usage: cm8jl65 command [options]");
    PX4_INFO("command:");
    PX4_INFO("\treset|start|status|stop");
    PX4_INFO("options:");
    PX4_INFO("\t-R --rotation (%d)", distance_sensor_s::ROTATION_DOWNWARD_FACING);
    PX4_INFO("\t-d --device_path");
    return PX4_OK;
}

} // namespace cm8jl65


/**
 * Driver 'main' command.
 */
extern "C" __EXPORT int cm8jl65_main(int argc, char *argv[])
{
    uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING;
    const char *device_path = nullptr;
    int ch;
    int myoptind = 1;
    const char *myoptarg = nullptr;

    while ((ch = px4_getopt(argc, argv, "R:d:", &myoptind, &myoptarg)) != EOF) {
        switch (ch) {
        case 'R': {
                int rot = -1;

                if (px4_get_parameter_value(myoptarg, rot) != 0) {
                    PX4_ERR("rotation parsing failed");
                    return -1;
                }

                rotation = (uint8_t)rot;
                break;
            }

        case 'd':
            device_path = myoptarg;
            break;

        default:
            PX4_WARN("Unknown option!");
            return cm8jl65::usage();
        }
    }

    if (myoptind >= argc) {
        return cm8jl65::usage();
    }

    // Reset the driver.
    if (!strcmp(argv[myoptind], "reset")) {
        return cm8jl65::reset(device_path);
    }

    // Start/load the driver.
    if (!strcmp(argv[myoptind], "start")) {
        return cm8jl65::start(device_path, rotation);
    }

    // Print driver information.
    if (!strcmp(argv[myoptind], "status")) {
        return cm8jl65::status();
    }

    // Stop the driver
    if (!strcmp(argv[myoptind], "stop")) {
        return cm8jl65::stop();
    }

    return cm8jl65::usage();
}