Add command_joystick command generator.

Can be used to quickly send float setpoints for testing.

common/command/build.mk

 
 COMMAND_TARGETS += $(LIBDIR)/libcommand.la
 
-COMMAND_TARGETS += $(DIR)/command_list $(DIR)/command_send
+COMMAND_TARGETS += $(DIR)/command_list $(DIR)/command_send $(DIR)/command_joystick
 
 
 ARCHSRCS := $(DIR)/command.c $(DIR)/command_tcp.c
@@ -28,9 +28,17 @@ $(DIR)/command_send: libcommand.la
 $(DIR)/command_send_LDFLAGS += -lcommand
 $(DIR)/command_send: $(COMMAND_SEND_OBJS)
 
-SRCS += $(ARCHSRCS) $(COMMAND_LIST_SRCS) $(COMMAND_SEND_SRCS)
+COMMAND_JOYSTICK_SRCS := $(DIR)/command_joystick.c
+COMMAND_JOYSTICK_OBJS := $(COMMAND_JOYSTICK_SRCS:.c=.o)
+
+$(DIR)/command_joystick: libcommand.la
+$(DIR)/command_joystick_LDFLAGS += -lcommand
+$(DIR)/command_joystick: $(COMMAND_JOYSTICK_OBJS)
+
+SRCS += $(ARCHSRCS) $(COMMAND_LIST_SRCS) $(COMMAND_SEND_SRCS) $(COMMAND_JOYSTICK_SRCS)
 TARGETS += $(COMMAND_TARGETS)
 CLEAN += $(COMMAND_TARGETS) $(ARCHOBJS) \
 	$(COMMAND_LIST_OBJS) \
 	$(COMMAND_SEND_OBJS) \
+	$(COMMAND_JOYSTICK_OBJS) \
 	$(LIBDIR)/libcommand.a

common/command/command_joystick.c

+/*
+	Copyright Jeroen Vreeken (jeroen@vreeken.net), 2015
+
+	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 3 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.
+
+	You should have received a copy of the GNU General Public License
+	along with this program.  If not, see <http://www.gnu.org/licenses/>.
+
+ */
+
+#include <stdio.h>
+#include <fcntl.h>
+#include <linux/joystick.h>
+#include <command/command.h>
+#include <dt_port_numbers.h>
+
+#include <stdbool.h>
+
+static bool found_name = false;
+static bool found_float = false;
+static bool found_setpoint = false;
+static char *arg_name;
+
+static void handler_list_entry(struct command *command, 
+    char *name, enum command_value_type type, char *unit,
+    int typec, enum command_ptype typev[])
+{
+	int i;
+
+	if (strcmp(name, arg_name))
+		return;
+	
+	found_name = true;
+	found_float = (type == COMMAND_VALUE_TYPE_FLOAT);
+	
+	for (i = 0; i < typec; i++) {
+		if (typev[i] == COMMAND_PTYPE_SETPOINT)
+			found_setpoint = true;
+	}
+}
+
+
+int main(int argc, char **argv)
+{
+	struct command *command;
+	char *id = "command_joystick";
+	char *host;
+	short port = 21000;
+	char *js_dev;
+	int fd_joy = -1;
+	
+	if (argc < 5) {
+		printf("Usage: %s <host> <port> <name> <joystick dev>\n", argv[0]);
+		printf("Example: %s localhost %d spgname /dev/input/js0", argv[0], port);
+		return 1;
+	}
+	
+	host = argv[1];
+	port = atoi(argv[2]);
+	arg_name = argv[3];
+	js_dev = argv[4];
+
+	fd_joy = open(js_dev, O_RDONLY);
+	if (fd_joy < 0) {
+		perror("Could not open joystick device");
+		return 1;
+	}
+	ioctl(fd_joy, FIONBIO, &(int){ 1 });
+
+	command = command_open(host, port);
+	command->handler_list_entry = handler_list_entry;
+
+	while (command_state_get(command) != COMMAND_STATE_READY &&
+	    command_state_get(command) != COMMAND_STATE_DISCONNECTED) {
+		fd_set fdrx;
+		int high = 0;
+		
+		FD_ZERO(&fdrx);
+
+		command_fd_set(command, &fdrx, &high);
+		
+		select(high + 1, &fdrx, NULL, NULL, NULL);
+		
+		command_handle(command, &fdrx);
+	}
+	
+	if (command_state_get(command) == COMMAND_STATE_DISCONNECTED) {
+		printf("Not connected.\n");
+		return 1;
+	}
+
+	if (!found_name) {
+		printf("Could not find spg '%s'\n", arg_name);
+		return 1;
+	}
+	if (!found_float) {
+		printf("Only float type is supported\n");
+		return 1;
+	}
+	if (!found_setpoint) {
+		printf("Setpoint command is not supported\n");
+		return 1;
+	}
+	
+	command->type = COMMAND_VALUE_TYPE_FLOAT;
+	command_id_set(command, id);
+	command_name_set(command, arg_name);
+	
+	do {
+		fd_set fdrx;
+		int high;
+		
+		FD_ZERO(&fdrx);
+		FD_SET(fd_joy, &fdrx);
+		high = fd_joy;
+
+		command_fd_set(command, &fdrx, &high);
+		
+		select(high + 1, &fdrx, NULL, NULL, NULL);
+		
+		command_handle(command, &fdrx);
+		if (FD_ISSET(fd_joy, &fdrx)) {
+			struct js_event event;
+			ssize_t ret = read(fd_joy, &event, sizeof(event));
+			if (ret == sizeof(event)) {
+				if (event.type & JS_EVENT_AXIS && event.number == 0) {
+					struct command_entry entry;
+					entry.type = COMMAND_PTYPE_SETPOINT;
+					entry.value.f = (float)event.value / 32768.0;
+	
+					command_send(command, &entry);
+				}
+			}
+		}
+		
+	} while (1);
+	
+	return 0;
+}

controller/ec/block_stoeber.c

@@ -619,13 +619,13 @@ static struct controller_block *block_stoeber_create(char *name, int argc, va_li
 	if (!stoeber)
 		goto err_malloc;
 	
-	sprintf(trx_name, "%s_tx", name);
+	sprintf(trx_name, "%s/tx", name);
 	stoeber_tx = controller_block_alloc("stoeber_tx", name, 0);
 		goto err_malloc_tx;
 	
 	stoeber_tx->private = stoeber->private;
 	
-	sprintf(trx_name, "%s_rx", name);
+	sprintf(trx_name, "%s/rx", name);
 	stoeber_rx = controller_block_alloc("stoeber_rx", name, 0);
 	if (!stoeber_rx)
 		goto err_malloc_rx;

controller/vesp/block_vesp_controller.c

@@ -192,13 +192,13 @@ static struct controller_block * block_vesp_controller_create(char *name,
 	if (!(controller = controller_block_alloc("vesp_controller", name, sizeof(struct controller_block_private))))
 		return NULL;
 
-	asprintf(&name_tmp, "%s_rx", name);
+	asprintf(&name_tmp, "%s/rx", name);
 	if (!(controller_rx = controller_block_alloc("vesp_controller_rx", name_tmp, 0)))
 		goto err_controller;
 	free(name_tmp);
 	controller_rx->private = controller->private;
 
-	asprintf(&name_tmp, "%s_tx", name);
+	asprintf(&name_tmp, "%s/tx", name);
 	if (!(controller_tx = controller_block_alloc("vesp_controller_tx", name_tmp, 0)))
 		goto err_controller;
 	free(name_tmp);
@@ -251,7 +251,7 @@ static struct controller_block * block_vesp_controller_create(char *name,
 		goto err_dev;
 	}
 
-	if (vesp_bus_add_input(controller, controller->private->bus,
+	if (vesp_bus_add_input(controller_rx, controller->private->bus,
 	    address, VESP_RESP_OOB, sizeof(struct rx_packet), rx_callback))
 		goto err_bus_input;