| /* |
| * Copyright (C) 2016 The Android Open Source Project |
| * |
| * Licensed under the Apache License, Version 2.0 (the "License"); |
| * you may not use this file except in compliance with the License. |
| * You may obtain a copy of the License at |
| * |
| * http://www.apache.org/licenses/LICENSE-2.0 |
| * |
| * Unless required by applicable law or agreed to in writing, software |
| * distributed under the License is distributed on an "AS IS" BASIS, |
| * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
| * See the License for the specific language governing permissions and |
| * limitations under the License. |
| */ |
| |
| #include <getopt.h> |
| #include <signal.h> |
| #include <unistd.h> |
| |
| #include <cstdlib> |
| #include <cstring> |
| #include <memory> |
| #include <sstream> |
| #include <tuple> |
| #include <vector> |
| |
| #include "contexthub.h" |
| #include "log.h" |
| |
| #ifdef __ANDROID__ |
| #include "androidcontexthub.h" |
| #else |
| #include "cp2130.h" |
| #include "usbcontext.h" |
| #include "usbcontexthub.h" |
| #endif |
| |
| using namespace android; |
| |
| enum class NanotoolCommand { |
| Invalid, |
| Disable, |
| DisableAll, |
| Calibrate, |
| Test, |
| Read, |
| Poll, |
| LoadCalibration, |
| Flash, |
| GetBridgeVer, |
| }; |
| |
| struct ParsedArgs { |
| NanotoolCommand command = NanotoolCommand::Poll; |
| std::vector<SensorSpec> sensors; |
| int count = 0; |
| bool logging_enabled = false; |
| std::string filename; |
| int device_index = 0; |
| }; |
| |
| static NanotoolCommand StrToCommand(const char *command_name) { |
| static const std::vector<std::tuple<std::string, NanotoolCommand>> cmds = { |
| std::make_tuple("disable", NanotoolCommand::Disable), |
| std::make_tuple("disable_all", NanotoolCommand::DisableAll), |
| std::make_tuple("calibrate", NanotoolCommand::Calibrate), |
| std::make_tuple("cal", NanotoolCommand::Calibrate), |
| std::make_tuple("test", NanotoolCommand::Test), |
| std::make_tuple("read", NanotoolCommand::Read), |
| std::make_tuple("poll", NanotoolCommand::Poll), |
| std::make_tuple("load_cal", NanotoolCommand::LoadCalibration), |
| std::make_tuple("flash", NanotoolCommand::Flash), |
| std::make_tuple("bridge_ver", NanotoolCommand::GetBridgeVer), |
| }; |
| |
| if (!command_name) { |
| return NanotoolCommand::Invalid; |
| } |
| |
| for (size_t i = 0; i < cmds.size(); i++) { |
| std::string name; |
| NanotoolCommand cmd; |
| |
| std::tie(name, cmd) = cmds[i]; |
| if (name.compare(command_name) == 0) { |
| return cmd; |
| } |
| } |
| |
| return NanotoolCommand::Invalid; |
| } |
| |
| static void PrintUsage(const char *name) { |
| const char *help_text = |
| "options:\n" |
| " -x, --cmd Argument must be one of:\n" |
| " bridge_ver: retrieve bridge version information (not\n" |
| " supported on all devices)\n" |
| " disable: send a disable request for one sensor\n" |
| " disable_all: send a disable request for all sensors\n" |
| " calibrate: disable the sensor, then perform the sensor\n" |
| " calibration routine\n" |
| " test: run a sensor's self-test routine\n" |
| #ifndef __ANDROID__ |
| " flash: load a new firmware image to the hub\n" |
| #endif |
| " load_cal: send data from calibration file to hub\n" |
| " poll (default): enable the sensor, output received\n" |
| " events, then disable the sensor before exiting\n" |
| " read: output events for the given sensor, or all events\n" |
| " if no sensor specified\n" |
| "\n" |
| " -s, --sensor Specify sensor type, and parameters for the command.\n" |
| " Format is sensor_type[:rate[:latency_ms]][=cal_ref].\n" |
| " See below for a complete list sensor types. A rate is\n" |
| " required when enabling a sensor, but latency is optional\n" |
| " and defaults to 0. Rate can be specified in Hz, or as one\n" |
| " of the special values \"onchange\", \"ondemand\", or\n" |
| " \"oneshot\".\n" |
| " Some sensors require a ground truth value for calibration.\n" |
| " Use the cal_ref parameter for this purpose (it's parsed as\n" |
| " a float).\n" |
| " This argument can be repeated to perform a command on\n" |
| " multiple sensors.\n" |
| "\n" |
| " -c, --count Number of samples to read before exiting, or set to 0 to\n" |
| " read indefinitely (the default behavior)\n" |
| "\n" |
| " -f, --file\n" |
| " Specifies the file to be used with flash.\n" |
| "\n" |
| " -l, --log Outputs logs from the sensor hub as they become available.\n" |
| " The logs will be printed inline with sensor samples.\n" |
| " The default is for log messages to be ignored.\n" |
| #ifndef __ANDROID__ |
| // This option is only applicable when connecting over USB |
| "\n" |
| " -i, --index Selects the device to work with by specifying the index\n" |
| " into the device list (default: 0)\n" |
| #endif |
| "\n" |
| " -v, -vv Output verbose/extra verbose debugging information\n"; |
| |
| fprintf(stderr, "%s %s\n\n", name, NANOTOOL_VERSION_STR); |
| fprintf(stderr, "Usage: %s [options]\n\n%s\n", name, help_text); |
| fprintf(stderr, "Supported sensors: %s\n\n", |
| ContextHub::ListAllSensorAbbrevNames().c_str()); |
| fprintf(stderr, "Examples:\n" |
| " %s -s accel:50\n" |
| " %s -s accel:50:1000 -s gyro:50:1000\n" |
| " %s -s prox:onchange\n" |
| " %s -x calibrate -s baro=1000\n", |
| name, name, name, name); |
| } |
| |
| /* |
| * Performs higher-level argument validation beyond just parsing the parameters, |
| * for example check whether a required argument is present when the command is |
| * set to a specific value. |
| */ |
| static bool ValidateArgs(std::unique_ptr<ParsedArgs>& args, const char *name) { |
| if (!args->sensors.size() |
| && (args->command == NanotoolCommand::Disable |
| || args->command == NanotoolCommand::Calibrate |
| || args->command == NanotoolCommand::Test |
| || args->command == NanotoolCommand::Poll)) { |
| fprintf(stderr, "%s: At least 1 sensor must be specified for this " |
| "command (use -s)\n", |
| name); |
| return false; |
| } |
| |
| if (args->command == NanotoolCommand::Flash |
| && args->filename.empty()) { |
| fprintf(stderr, "%s: A filename must be specified for this command " |
| "(use -f)\n", |
| name); |
| return false; |
| } |
| |
| if (args->command == NanotoolCommand::Poll) { |
| for (unsigned int i = 0; i < args->sensors.size(); i++) { |
| if (args->sensors[i].special_rate == SensorSpecialRate::None |
| && args->sensors[i].rate_hz < 0) { |
| fprintf(stderr, "%s: Sample rate must be specified for sensor " |
| "%s\n", name, |
| ContextHub::SensorTypeToAbbrevName( |
| args->sensors[i].sensor_type).c_str()); |
| return false; |
| } |
| } |
| } |
| |
| if (args->command == NanotoolCommand::Calibrate) { |
| for (unsigned int i = 0; i < args->sensors.size(); i++) { |
| if (!args->sensors[i].have_cal_ref |
| && (args->sensors[i].sensor_type == SensorType::Barometer |
| || args->sensors[i].sensor_type == |
| SensorType::AmbientLightSensor)) { |
| fprintf(stderr, "%s: Calibration reference required for sensor " |
| "%s (for example: -s baro=1000)\n", name, |
| ContextHub::SensorTypeToAbbrevName( |
| args->sensors[i].sensor_type).c_str()); |
| return false; |
| } |
| } |
| } |
| |
| return true; |
| } |
| |
| static bool ParseRate(const std::string& param, SensorSpec& spec) { |
| static const std::vector<std::tuple<std::string, SensorSpecialRate>> rates = { |
| std::make_tuple("ondemand", SensorSpecialRate::OnDemand), |
| std::make_tuple("onchange", SensorSpecialRate::OnChange), |
| std::make_tuple("oneshot", SensorSpecialRate::OneShot), |
| }; |
| |
| for (size_t i = 0; i < rates.size(); i++) { |
| std::string name; |
| SensorSpecialRate rate; |
| |
| std::tie(name, rate) = rates[i]; |
| if (param == name) { |
| spec.special_rate = rate; |
| return true; |
| } |
| } |
| |
| spec.rate_hz = std::stof(param); |
| if (spec.rate_hz < 0) { |
| return false; |
| } |
| |
| return true; |
| } |
| |
| // Parse a sensor argument in the form of "sensor_name[:rate[:latency]][=cal_ref]" |
| // into a SensorSpec, and add it to ParsedArgs. |
| static bool ParseSensorArg(std::vector<SensorSpec>& sensors, const char *arg_str, |
| const char *name) { |
| SensorSpec spec; |
| std::string param; |
| std::string pre_cal_ref; |
| std::stringstream full_arg_ss(arg_str); |
| unsigned int index = 0; |
| |
| while (std::getline(full_arg_ss, param, '=')) { |
| if (index == 0) { |
| pre_cal_ref = param; |
| } else if (index == 1) { |
| spec.cal_ref = std::stof(param); |
| spec.have_cal_ref = true; |
| } else { |
| fprintf(stderr, "%s: Only one calibration reference may be " |
| "supplied\n", name); |
| return false; |
| } |
| index++; |
| } |
| |
| index = 0; |
| std::stringstream pre_cal_ref_ss(pre_cal_ref); |
| while (std::getline(pre_cal_ref_ss, param, ':')) { |
| if (index == 0) { // Parse sensor type |
| spec.sensor_type = ContextHub::SensorAbbrevNameToType(param); |
| if (spec.sensor_type == SensorType::Invalid_) { |
| fprintf(stderr, "%s: Invalid sensor name '%s'\n", |
| name, param.c_str()); |
| return false; |
| } |
| } else if (index == 1) { // Parse sample rate |
| if (!ParseRate(param, spec)) { |
| fprintf(stderr, "%s: Invalid sample rate %s\n", name, |
| param.c_str()); |
| return false; |
| } |
| } else if (index == 2) { // Parse latency |
| long long latency_ms = std::stoll(param); |
| if (latency_ms < 0) { |
| fprintf(stderr, "%s: Invalid latency %lld\n", name, latency_ms); |
| return false; |
| } |
| spec.latency_ns = static_cast<uint64_t>(latency_ms) * 1000000; |
| } else { |
| fprintf(stderr, "%s: Too many arguments in -s", name); |
| return false; |
| } |
| index++; |
| } |
| |
| sensors.push_back(spec); |
| return true; |
| } |
| |
| static std::unique_ptr<ParsedArgs> ParseArgs(int argc, char **argv) { |
| static const struct option long_opts[] = { |
| {"cmd", required_argument, nullptr, 'x'}, |
| {"sensor", required_argument, nullptr, 's'}, |
| {"count", required_argument, nullptr, 'c'}, |
| {"flash", required_argument, nullptr, 'f'}, |
| {"log", no_argument, nullptr, 'l'}, |
| {"index", required_argument, nullptr, 'i'}, |
| {} // Indicates the end of the option list |
| }; |
| |
| auto args = std::unique_ptr<ParsedArgs>(new ParsedArgs()); |
| int index = 0; |
| while (42) { |
| int c = getopt_long(argc, argv, "x:s:c:f:v::li:", long_opts, &index); |
| if (c == -1) { |
| break; |
| } |
| |
| switch (c) { |
| case 'x': { |
| args->command = StrToCommand(optarg); |
| if (args->command == NanotoolCommand::Invalid) { |
| fprintf(stderr, "%s: Invalid command '%s'\n", argv[0], optarg); |
| return nullptr; |
| } |
| break; |
| } |
| case 's': { |
| if (!ParseSensorArg(args->sensors, optarg, argv[0])) { |
| return nullptr; |
| } |
| break; |
| } |
| case 'c': { |
| args->count = atoi(optarg); |
| if (args->count < 0) { |
| fprintf(stderr, "%s: Invalid sample count %d\n", |
| argv[0], args->count); |
| return nullptr; |
| } |
| break; |
| } |
| case 'v': { |
| if (optarg && optarg[0] == 'v') { |
| Log::SetLevel(Log::LogLevel::Debug); |
| } else { |
| Log::SetLevel(Log::LogLevel::Info); |
| } |
| break; |
| } |
| case 'l': { |
| args->logging_enabled = true; |
| break; |
| } |
| case 'f': { |
| if (optarg) { |
| args->filename = std::string(optarg); |
| } else { |
| fprintf(stderr, "File requires a filename\n"); |
| return nullptr; |
| } |
| break; |
| } |
| case 'i': { |
| args->device_index = atoi(optarg); |
| if (args->device_index < 0) { |
| fprintf(stderr, "%s: Invalid device index %d\n", argv[0], |
| args->device_index); |
| return nullptr; |
| } |
| break; |
| } |
| default: |
| return nullptr; |
| } |
| } |
| |
| if (!ValidateArgs(args, argv[0])) { |
| return nullptr; |
| } |
| return args; |
| } |
| |
| static std::unique_ptr<ContextHub> GetContextHub(std::unique_ptr<ParsedArgs>& args) { |
| #ifdef __ANDROID__ |
| (void) args; |
| return std::unique_ptr<AndroidContextHub>(new AndroidContextHub()); |
| #else |
| return std::unique_ptr<UsbContextHub>(new UsbContextHub(args->device_index)); |
| #endif |
| } |
| |
| #ifdef __ANDROID__ |
| static void SignalHandler(int sig) { |
| // Catches a signal and does nothing, to allow any pending syscalls to be |
| // exited with SIGINT and normal cleanup to occur. If SIGINT is sent a |
| // second time, the system will invoke the standard handler. |
| (void) sig; |
| } |
| |
| static void TerminateHandler() { |
| AndroidContextHub::TerminateHandler(); |
| std::abort(); |
| } |
| |
| static void SetHandlers() { |
| struct sigaction sa; |
| memset(&sa, 0, sizeof(sa)); |
| sa.sa_handler = SignalHandler; |
| sigaction(SIGINT, &sa, NULL); |
| |
| std::set_terminate(TerminateHandler); |
| } |
| #endif |
| |
| int main(int argc, char **argv) { |
| Log::Initialize(new PrintfLogger(), Log::LogLevel::Warn); |
| |
| // If no arguments given, print usage without any error messages |
| if (argc == 1) { |
| PrintUsage(argv[0]); |
| return 1; |
| } |
| |
| std::unique_ptr<ParsedArgs> args = ParseArgs(argc, argv); |
| if (!args) { |
| PrintUsage(argv[0]); |
| return 1; |
| } |
| |
| #ifdef __ANDROID__ |
| SetHandlers(); |
| #endif |
| |
| std::unique_ptr<ContextHub> hub = GetContextHub(args); |
| if (!hub || !hub->Initialize()) { |
| LOGE("Error initializing ContextHub"); |
| return -1; |
| } |
| |
| hub->SetLoggingEnabled(args->logging_enabled); |
| |
| bool success = true; |
| switch (args->command) { |
| case NanotoolCommand::Disable: |
| success = hub->DisableSensors(args->sensors); |
| break; |
| case NanotoolCommand::DisableAll: |
| success = hub->DisableAllSensors(); |
| break; |
| case NanotoolCommand::Read: { |
| if (!args->sensors.size()) { |
| hub->PrintAllEvents(args->count); |
| } else { |
| hub->PrintSensorEvents(args->sensors, args->count); |
| } |
| break; |
| } |
| case NanotoolCommand::Poll: { |
| success = hub->EnableSensors(args->sensors); |
| if (success) { |
| hub->PrintSensorEvents(args->sensors, args->count); |
| } |
| break; |
| } |
| case NanotoolCommand::Calibrate: { |
| hub->DisableSensors(args->sensors); |
| success = hub->CalibrateSensors(args->sensors); |
| break; |
| } |
| case NanotoolCommand::Test: { |
| hub->DisableSensors(args->sensors); |
| |
| /* Most of drivers complete enable/disable after SPI/I2C callback |
| transaction return. Since enable/disable functions return immediatly |
| before it, some time ensure entire process is completed. */ |
| usleep(100000); |
| |
| success = hub->TestSensors(args->sensors); |
| break; |
| } |
| case NanotoolCommand::LoadCalibration: { |
| success = hub->LoadCalibration(); |
| break; |
| } |
| case NanotoolCommand::Flash: { |
| success = hub->Flash(args->filename); |
| break; |
| } |
| case NanotoolCommand::GetBridgeVer: { |
| success = hub->PrintBridgeVersion(); |
| break; |
| } |
| default: |
| LOGE("Command not implemented"); |
| return 1; |
| } |
| |
| if (!success) { |
| LOGE("Command failed"); |
| return -1; |
| } else if (args->command != NanotoolCommand::Read |
| && args->command != NanotoolCommand::Poll) { |
| printf("Operation completed successfully\n"); |
| } |
| |
| return 0; |
| } |
