From e699a77ea8b93d8ecba14e25749d7fc964baf134 Mon Sep 17 00:00:00 2001
From: Federico Terraneo <fede.tft@miosix.org>
Date: Tue, 4 Jul 2017 22:31:45 +0200
Subject: [PATCH] Piksi driver cleanup, added copyright notices
---
src/entrypoints/test-piksi.cpp | 71 +++++++++++++++++++--
src/shared/drivers/piksi/contiguous_queue.h | 26 ++++++++
src/shared/drivers/piksi/piksi.cpp | 38 ++++++++---
src/shared/drivers/piksi/piksi.h | 22 +++++++
4 files changed, 143 insertions(+), 14 deletions(-)
diff --git a/src/entrypoints/test-piksi.cpp b/src/entrypoints/test-piksi.cpp
index 7e6f2e0bf..f4990508f 100644
--- a/src/entrypoints/test-piksi.cpp
+++ b/src/entrypoints/test-piksi.cpp
@@ -1,3 +1,25 @@
+/* Copyright (c) 2017 Skyward Experimental Rocketry
+ * Authors: Federico Terraneo
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
#include <drivers/piksi/piksi.h>
#include <time.h>
#include <iostream>
@@ -7,17 +29,26 @@ using namespace std;
#ifdef _MIOSIX
#include <miosix.h>
-
using namespace miosix;
#endif //_MIOSIX
-int main(int argc, char *argv[])
+// Polling test, usng getGpsData()
+
+int main()
{
+ #ifdef _MIOSIX
+
Piksi piksi("/dev/gps");
+ #else //_MIOSIX
+ Piksi piksi("/dev/ttyUSB0");
+ #endif //_MIOSIX
+
for(;;)
{
- auto gps=piksi.waitForGpsData();
+ Thread::sleep(200);
+ try {
+ auto gps=piksi.getGpsData();
#ifdef _MIOSIX
long long now=getTick();
#else //_MIOSIX
@@ -31,5 +62,37 @@ int main(int argc, char *argv[])
<<" ve: "<<gps.velocityEast
<<" vd: "<<gps.velocityDown
<<" ns: "<<gps.numSatellites<<endl;
+ } catch(...) {
+ cout<<"---"<<endl;
+ }
}
-}
\ No newline at end of file
+}
+
+// Blocking wait test, using waitForGpsData()
+
+// int main()
+// {
+// #ifdef _MIOSIX
+// Piksi piksi("/dev/gps");
+// #else //_MIOSIX
+// Piksi piksi("/dev/ttyUSB0");
+// #endif //_MIOSIX
+//
+// for(;;)
+// {
+// auto gps=piksi.waitForGpsData();
+// #ifdef _MIOSIX
+// long long now=getTick();
+// #else //_MIOSIX
+// long long now=clock()/(CLOCKS_PER_SEC/1000);
+// #endif //_MIOSIX
+// cout<<" t: "<<now-gps.timestamp
+// <<" lat: "<<gps.latitude
+// <<" lon: "<<gps.longitude
+// <<" h: "<<gps.height
+// <<" vn: "<<gps.velocityNorth
+// <<" ve: "<<gps.velocityEast
+// <<" vd: "<<gps.velocityDown
+// <<" ns: "<<gps.numSatellites<<endl;
+// }
+// }
diff --git a/src/shared/drivers/piksi/contiguous_queue.h b/src/shared/drivers/piksi/contiguous_queue.h
index 51c7ef1a9..f723a5ec9 100644
--- a/src/shared/drivers/piksi/contiguous_queue.h
+++ b/src/shared/drivers/piksi/contiguous_queue.h
@@ -1,3 +1,29 @@
+/***************************************************************************
+ * Copyright (C) 2017 by Terraneo Federico *
+ * *
+ * This program is free software; you can redistribute it and/or modify *
+ * it under the terms of the GNU General Public License as published by *
+ * the Free Software Foundation; either version 2 of the License, or *
+ * (at your option) any later version. *
+ * *
+ * This program is distributed in the hope that it will be useful, *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
+ * GNU General Public License for more details. *
+ * *
+ * As a special exception, if other files instantiate templates or use *
+ * macros or inline functions from this file, or you compile this file *
+ * and link it with other works to produce a work based on this file, *
+ * this file does not by itself cause the resulting work to be covered *
+ * by the GNU General Public License. However the source code for this *
+ * file must still be made available in accordance with the GNU General *
+ * Public License. This exception does not invalidate any other reasons *
+ * why a work based on this file might be covered by the GNU General *
+ * Public License. *
+ * *
+ * You should have received a copy of the GNU General Public License *
+ * along with this program; if not, see <http://www.gnu.org/licenses/> *
+ ***************************************************************************/
#ifndef CONTIGUOUS_QUEUE
#define CONTIGUOUS_QUEUE
diff --git a/src/shared/drivers/piksi/piksi.cpp b/src/shared/drivers/piksi/piksi.cpp
index 680a6e184..4c406ea65 100644
--- a/src/shared/drivers/piksi/piksi.cpp
+++ b/src/shared/drivers/piksi/piksi.cpp
@@ -1,3 +1,24 @@
+/* Copyright (c) 2017 Skyward Experimental Rocketry
+ * Authors: Federico Terraneo
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
#include "piksi.h"
#include <unistd.h>
@@ -88,11 +109,11 @@ GPSData Piksi::waitForGpsData()
Piksi::~Piksi()
{
- close(fd);
- pthread_mutex_destroy(&mutex);
- pthread_cond_destroy(&cond);
quit=true;
pthread_join(thread,NULL);
+ pthread_mutex_destroy(&mutex);
+ pthread_cond_destroy(&cond);
+ close(fd);
}
void* Piksi::threadLauncher(void* arg)
@@ -111,13 +132,10 @@ void Piksi::run()
unsigned int Piksi::readData(unsigned char *buffer, unsigned int size)
{
- for(;;)
- {
- int result=read(fd,buffer,size);
- if(result>0) return result;
- usleep(10000); //We want to retry but avoid 100% CPU utilization
- return 0; //To go to a loop of run() and notice the quit flag
- }
+ int result=read(fd,buffer,size);
+ if(result>0) return result;
+ usleep(10000); //We want to retry but avoid 100% CPU utilization
+ return 0; //To go to a loop of run() and notice the quit flag
}
unsigned int Piksi::lookForMessages(uint8_t *buffer, unsigned int size)
diff --git a/src/shared/drivers/piksi/piksi.h b/src/shared/drivers/piksi/piksi.h
index 51c7aae8f..4907c22c6 100644
--- a/src/shared/drivers/piksi/piksi.h
+++ b/src/shared/drivers/piksi/piksi.h
@@ -1,3 +1,24 @@
+/* Copyright (c) 2017 Skyward Experimental Rocketry
+ * Authors: Federico Terraneo
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
#ifndef PIKSI_H
#define PIKSI_H
@@ -38,6 +59,7 @@ public:
/**
* Constructor
* \param serialPath path to the device file of the Piksi serial port
+ * \throws runtime_error if the serial port cannot be opened
*/
Piksi(const char *serialPath);
--
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