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Ported more simulated sensors to DriverFramework

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Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
2015-11-10 07:45:13 -08:00
parent 40c079efa8
commit efd9995a10
10 changed files with 168 additions and 161 deletions
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28
src/modules/commander/state_machine_helper.cpp
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@@ -65,6 +65,10 @@
#include "state_machine_helper.h"
#include "commander_helper.h"
#include "PreflightCheck.h"
#ifndef __PX4_NUTTX
#include "DevMgr.hpp"
using namespace DriverFramework;
#endif
// This array defines the arming state transitions. The rows are the new state, and the columns
// are the current state. Using new state and current state you can index into the array which
@@ -463,30 +467,30 @@ transition_result_t hil_state_transition(hil_state_t new_state, orb_advert_t sta
#else
const char *devname;
unsigned int handle = 0;
std::string devname;
unsigned int index = 0;
for(;;) {
devname = px4_get_device_names(&handle);
if (devname == NULL)
if (DevMgr::getNextDeviceName(index, devname) < 0) {
break;
}
/* skip mavlink */
if (!strcmp("/dev/mavlink", devname)) {
if (!strcmp("/dev/mavlink", devname.c_str())) {
continue;
}
DevHandle h;
DevMgr::getHandle(devname.c_str(), h);
int sensfd = px4_open(devname, 0);
if (sensfd < 0) {
warn("failed opening device %s", devname);
if (!h.isValid()) {
warn("failed opening device %s", devname.c_str());
continue;
}
int block_ret = px4_ioctl(sensfd, DEVIOCSPUBBLOCK, 1);
px4_close(sensfd);
int block_ret = h.ioctl(DEVIOCSPUBBLOCK, (void *)1);
DevMgr::releaseHandle(h);
printf("Disabling %s: %s\n", devname, (block_ret == OK) ? "OK" : "ERROR");
printf("Disabling %s: %s\n", devname.c_str(), (block_ret == OK) ? "OK" : "ERROR");
}
ret = TRANSITION_CHANGED;