tfmini_main.cpp

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 * modification, are permitted provided that the following conditions
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#include "TFMINI.hpp"

#include <px4_platform_common/getopt.h>

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

TFMINI  *g_dev{nullptr};

int start(const char *port, uint8_t rotation);
int status();
int stop();
int usage();

int
start(const char *port, uint8_t rotation)
{
    if (g_dev != nullptr) {
        PX4_ERR("already started");
        return PX4_OK;
    }

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

    if (g_dev == nullptr) {
        PX4_ERR("driver start failed");
        return PX4_ERROR;
    }

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

    return PX4_OK;
}

int
status()
{
    if (g_dev == nullptr) {
        PX4_ERR("driver not running");
        return 1;
    }

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

    return 0;
}

int stop()
{
    if (g_dev != nullptr) {
        PX4_INFO("stopping driver");
        delete g_dev;
        g_dev = nullptr;
        PX4_INFO("driver stopped");

    } else {
        PX4_ERR("driver not running");
        return 1;
    }

    return PX4_OK;
}

int
usage()
{
    PRINT_MODULE_DESCRIPTION(
        R"DESCR_STR(
### Description

Serial bus driver for the Benewake TFmini LiDAR.

Most boards are configured to enable/start the driver on a specified UART using the SENS_TFMINI_CFG parameter.

Setup/usage information: https://docs.px4.io/en/sensor/tfmini.html

### Examples

Attempt to start driver on a specified serial device.
$ tfmini start -d /dev/ttyS1
Stop driver
$ tfmini stop
)DESCR_STR");

    PRINT_MODULE_USAGE_NAME("tfmini", "driver");
    PRINT_MODULE_USAGE_SUBCATEGORY("distance_sensor");
    PRINT_MODULE_USAGE_COMMAND_DESCR("start","Start driver");
    PRINT_MODULE_USAGE_PARAM_STRING('d', nullptr, nullptr, "Serial device", false);
    PRINT_MODULE_USAGE_PARAM_INT('R', 25, 1, 25, "Sensor rotation - downward facing by default", true);
    PRINT_MODULE_USAGE_COMMAND_DESCR("status","Driver status");
    PRINT_MODULE_USAGE_COMMAND_DESCR("stop","Stop driver");
    PRINT_MODULE_USAGE_COMMAND_DESCR("test","Test driver (basic functional tests)");
    PRINT_MODULE_USAGE_COMMAND_DESCR("status","Print driver status");
    return PX4_OK;
}

} // namespace

extern "C" __EXPORT int tfmini_main(int argc, char *argv[])
{
    int ch = 0;
    uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING;
    const char *device_path = TFMINI_DEFAULT_PORT;
    int myoptind = 1;
    const char *myoptarg = nullptr;

    while ((ch = px4_getopt(argc, argv, "R:d:", &myoptind, &myoptarg)) != EOF) {
        switch (ch) {
        case 'R':
            rotation = (uint8_t)atoi(myoptarg);
            break;

        case 'd':
            device_path = myoptarg;
            break;

        default:
            PX4_WARN("Unknown option!");
            return PX4_ERROR;
        }
    }

    if (myoptind >= argc) {
        PX4_ERR("unrecognized command");
        return tfmini::usage();
    }

    if (!strcmp(argv[myoptind], "start")) {
        if (strcmp(device_path, "") != 0) {
            return tfmini::start(device_path, rotation);

        } else {
            PX4_WARN("Please specify device path!");
            return tfmini::usage();
        }

    } else if (!strcmp(argv[myoptind], "stop")) {
        return tfmini::stop();

    } else if (!strcmp(argv[myoptind], "status")) {
        return tfmini::status();
    }

    return tfmini::usage();
}