motor_test.cpp

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/****************************************************************************
 *
 *   Copyright (C) 2014 PX4 Development Team. All rights reserved.
 *   Author: Holger Steinhaus <hsteinhaus@gmx.de>
 *
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 *    used to endorse or promote products derived from this software
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/**
 * @file motor_test.c
 *
 * Tool for drive testing
 */

#include <drivers/drv_hrt.h>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/log.h>
#include <px4_platform_common/module.h>
#include <uORB/PublicationQueued.hpp>
#include <uORB/topics/test_motor.h>

extern "C" __EXPORT int motor_test_main(int argc, char *argv[]);

static void motor_test(unsigned channel, float value, uint8_t driver_instance, int timeout_ms);
static void usage(const char *reason);

void motor_test(unsigned channel, float value, uint8_t driver_instance, int timeout_ms)
{
    test_motor_s test_motor{};
    test_motor.timestamp = hrt_absolute_time();
    test_motor.motor_number = channel;
    test_motor.value = value;
    test_motor.action = value >= 0.f ? test_motor_s::ACTION_RUN : test_motor_s::ACTION_STOP;
    test_motor.driver_instance = driver_instance;
    test_motor.timeout_ms = timeout_ms;

    uORB::PublicationQueued<test_motor_s> test_motor_pub{ORB_ID(test_motor)};
    test_motor_pub.publish(test_motor);

    if (test_motor.action == test_motor_s::ACTION_STOP) {
        PX4_INFO("motors stop command sent");

    } else {
        PX4_INFO("motor %d set to %.2f", channel, (double)value);
    }
}

static void usage(const char *reason)
{
    if (reason != nullptr) {
        PX4_WARN("%s", reason);
    }

    PRINT_MODULE_DESCRIPTION(
        R"DESCR_STR(
Utility to test motors.

WARNING: remove all props before using this command.
)DESCR_STR");

    PRINT_MODULE_USAGE_NAME("motor_test", "command");
    PRINT_MODULE_USAGE_COMMAND_DESCR("test", "Set motor(s) to a specific output value");
    PRINT_MODULE_USAGE_PARAM_INT('m', -1, 0, 7, "Motor to test (0...7, all if not specified)", true);
    PRINT_MODULE_USAGE_PARAM_INT('p', 0, 0, 100, "Power (0...100)", true);
    PRINT_MODULE_USAGE_PARAM_INT('t', 0, 0, 100, "Timeout in seconds (default=no timeout)", true);
    PRINT_MODULE_USAGE_PARAM_INT('i', 0, 0, 4, "driver instance", true);
    PRINT_MODULE_USAGE_COMMAND_DESCR("stop", "Stop all motors");
    PRINT_MODULE_USAGE_COMMAND_DESCR("iterate", "Iterate all motors starting and stopping one after the other");

}

int motor_test_main(int argc, char *argv[])
{
    int channel = -1; //default to all channels
    unsigned long lval;
    float value = 0.0f;
    uint8_t driver_instance = 0;
    int ch;
    int timeout_ms = 0;

    int myoptind = 1;
    const char *myoptarg = nullptr;

    while ((ch = px4_getopt(argc, argv, "i:m:p:t:", &myoptind, &myoptarg)) != EOF) {
        switch (ch) {

        case 'i':
            driver_instance = (uint8_t)strtol(myoptarg, nullptr, 0);
            break;

        case 'm':
            /* Read in motor number */
            channel = (int)strtol(myoptarg, nullptr, 0);
            break;

        case 'p':
            /* Read in power value */
            lval = strtoul(myoptarg, nullptr, 0);

            if (lval > 100) {
                usage("value invalid");
                return 1;
            }

            value = ((float)lval) / 100.f;
            break;

        case 't':
            timeout_ms = strtol(myoptarg, nullptr, 0) * 1000;
            break;

        default:
            usage(nullptr);
            return 1;
        }
    }

    bool run_test = true;

    if (myoptind >= 0 && myoptind < argc) {
        if (strcmp("stop", argv[myoptind]) == 0) {
            channel = 0;
            value = -1.f;

        } else if (strcmp("iterate", argv[myoptind]) == 0) {
            value = 0.15f;

            for (int i = 0; i < 8; ++i) {
                motor_test(i, value, driver_instance, 0);
                px4_usleep(500000);
                motor_test(i, -1.f, driver_instance, 0);
                px4_usleep(10000);
            }

            run_test = false;

        } else if (strcmp("test", argv[myoptind]) == 0) {
            // nothing to do
        } else {
            usage(nullptr);
            return 0;
        }

    } else {
        usage(nullptr);
        return 0;
    }

    if (run_test) {
        if (channel < 0) {
            for (int i = 0; i < 8; ++i) {
                motor_test(i, value, driver_instance, timeout_ms);
                px4_usleep(10000);
            }

        } else {
            motor_test(channel, value, driver_instance, timeout_ms);
        }
    }

    return 0;
}