paw3902_main.cpp

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/****************************************************************************
 *
 *   Copyright (c) 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.
 * 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.
 *
 ****************************************************************************/

#include "PAW3902.hpp"

/**
 * Local functions in support of the shell command.
 */
namespace pmw3902
{

PAW3902 *g_dev;

void    start(int spi_bus);
void    stop();
void    test();
void    reset();
void    info();
void    usage();


/**
 * Start the driver.
 */
void
start(int spi_bus)
{
    if (g_dev != nullptr) {
        errx(1, "already started");
    }

    /* create the driver */
    g_dev = new PAW3902(spi_bus, (enum Rotation)0);

    if (g_dev == nullptr) {
        goto fail;
    }

    if (OK != g_dev->init()) {
        goto fail;
    }

    exit(0);

fail:

    if (g_dev != nullptr) {
        delete g_dev;
        g_dev = nullptr;
    }

    errx(1, "driver start failed");
}

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

    } else {
        errx(1, "driver not running");
    }

    exit(0);
}

/**
 * Print a little info about the driver.
 */
void
info()
{
    if (g_dev == nullptr) {
        errx(1, "driver not running");
    }

    printf("state @ %p\n", g_dev);
    g_dev->print_info();

    exit(0);
}

/**
 * Print a little info about how to start/stop/use the driver
 */
void usage()
{
    PX4_INFO("usage: pmw3902 {start|test|reset|info'}");
    PX4_INFO("    [-b SPI_BUS]");
}

} // namespace pmw3902

/*
 * Driver 'main' command.
 */
extern "C" __EXPORT int paw3902_main(int argc, char *argv[]);

int
paw3902_main(int argc, char *argv[])
{
    if (argc < 2) {
        pmw3902::usage();
        return PX4_ERROR;
    }

    // don't exit from getopt loop to leave getopt global variables in consistent state,
    // set error flag instead
    bool err_flag = false;
    int ch;
    int myoptind = 1;
    const char *myoptarg = nullptr;
    int spi_bus = PAW3902_BUS;

    while ((ch = px4_getopt(argc, argv, "b:", &myoptind, &myoptarg)) != EOF) {
        switch (ch) {
        case 'b':
            spi_bus = (uint8_t)atoi(myoptarg);

            break;

        default:
            err_flag = true;
            break;
        }
    }

    if (err_flag) {
        pmw3902::usage();
        return PX4_ERROR;
    }

    /*
     * Start/load the driver.
     */
    if (!strcmp(argv[myoptind], "start")) {
        pmw3902::start(spi_bus);
    }

    /*
     * Stop the driver
     */
    if (!strcmp(argv[myoptind], "stop")) {
        pmw3902::stop();
    }

    /*
     * Print driver information.
     */
    if (!strcmp(argv[myoptind], "status")) {
        pmw3902::info();
    }

    pmw3902::usage();
    return PX4_ERROR;
}