NullMixer *
NullMixer::from_text(const char *buf, unsigned &buflen)
{
NullMixer *nm = nullptr;
/* enforce that the mixer ends with a new line */
if (!string_well_formed(buf, buflen)) {
return nullptr;
}
if ((buflen >= 2) && (buf[0] == 'Z') && (buf[1] == ':')) {
nm = new NullMixer;
buflen -= 2;
}
return nm;
}
MultirotorMixer *
MultirotorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handle, const char *buf, unsigned &buflen)
{
MultirotorGeometry geometry;
char geomname[8];
int s[4];
int used;
/* enforce that the mixer ends with a new line */
if (!string_well_formed(buf, buflen)) {
return nullptr;
}
if (sscanf(buf, "R: %7s %d %d %d %d%n", geomname, &s[0], &s[1], &s[2], &s[3], &used) != 5) {
debug("multirotor parse failed on '%s'", buf);
return nullptr;
}
if (used > (int)buflen) {
debug("OVERFLOW: multirotor spec used %d of %u", used, buflen);
return nullptr;
}
buf = skipline(buf, buflen);
if (buf == nullptr) {
debug("no line ending, line is incomplete");
return nullptr;
}
debug("remaining in buf: %d, first char: %c", buflen, buf[0]);
if (!strcmp(geomname, "4+")) {
geometry = MultirotorGeometry::QUAD_PLUS;
} else if (!strcmp(geomname, "4x")) {
geometry = MultirotorGeometry::QUAD_X;
} else if (!strcmp(geomname, "4h")) {
geometry = MultirotorGeometry::QUAD_H;
} else if (!strcmp(geomname, "4v")) {
geometry = MultirotorGeometry::QUAD_V;
} else if (!strcmp(geomname, "4w")) {
geometry = MultirotorGeometry::QUAD_WIDE;
} else if (!strcmp(geomname, "4s")) {
geometry = MultirotorGeometry::QUAD_S250AQ;
} else if (!strcmp(geomname, "4dc")) {
geometry = MultirotorGeometry::QUAD_DEADCAT;
} else if (!strcmp(geomname, "6+")) {
geometry = MultirotorGeometry::HEX_PLUS;
} else if (!strcmp(geomname, "6x")) {
geometry = MultirotorGeometry::HEX_X;
} else if (!strcmp(geomname, "6c")) {
geometry = MultirotorGeometry::HEX_COX;
} else if (!strcmp(geomname, "6t")) {
geometry = MultirotorGeometry::HEX_T;
} else if (!strcmp(geomname, "8+")) {
geometry = MultirotorGeometry::OCTA_PLUS;
} else if (!strcmp(geomname, "8x")) {
geometry = MultirotorGeometry::OCTA_X;
} else if (!strcmp(geomname, "8c")) {
geometry = MultirotorGeometry::OCTA_COX;
} else if (!strcmp(geomname, "6m")) {
geometry = MultirotorGeometry::DODECA_TOP_COX;
} else if (!strcmp(geomname, "6a")) {
geometry = MultirotorGeometry::DODECA_BOTTOM_COX;
} else if (!strcmp(geomname, "2-")) {
geometry = MultirotorGeometry::TWIN_ENGINE;
} else if (!strcmp(geomname, "3y")) {
geometry = MultirotorGeometry::TRI_Y;
} else {
debug("unrecognised geometry '%s'", geomname);
return nullptr;
}
debug("adding multirotor mixer '%s'", geomname);
return new MultirotorMixer(
control_cb,
cb_handle,
geometry,
s[0] / 10000.0f,
s[1] / 10000.0f,
s[2] / 10000.0f,
s[3] / 10000.0f);
}
SimpleMixer *
SimpleMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handle, const char *buf, unsigned &buflen)
{
SimpleMixer *sm = nullptr;
mixer_simple_s *mixinfo = nullptr;
unsigned inputs;
int used;
const char *end = buf + buflen;
/* enforce that the mixer ends with a new line */
if (!string_well_formed(buf, buflen)) {
return nullptr;
}
/* get the base info for the mixer */
if (sscanf(buf, "M: %u%n", &inputs, &used) != 1) {
debug("simple parse failed on '%s'", buf);
goto out;
}
buf = skipline(buf, buflen);
if (buf == nullptr) {
debug("no line ending, line is incomplete");
goto out;
}
mixinfo = (mixer_simple_s *)malloc(MIXER_SIMPLE_SIZE(inputs));
if (mixinfo == nullptr) {
debug("could not allocate memory for mixer info");
goto out;
}
mixinfo->control_count = inputs;
if (parse_output_scaler(end - buflen, buflen, mixinfo->output_scaler)) {
debug("simple mixer parser failed parsing out scaler tag, ret: '%s'", buf);
goto out;
}
for (unsigned i = 0; i < inputs; i++) {
if (parse_control_scaler(end - buflen, buflen,
mixinfo->controls[i].scaler,
mixinfo->controls[i].control_group,
mixinfo->controls[i].control_index)) {
debug("simple mixer parser failed parsing ctrl scaler tag, ret: '%s'", buf);
goto out;
}
}
sm = new SimpleMixer(control_cb, cb_handle, mixinfo);
if (sm != nullptr) {
mixinfo = nullptr;
debug("loaded mixer with %d input(s)", inputs);
} else {
debug("could not allocate memory for mixer");
}
out:
if (mixinfo != nullptr) {
free(mixinfo);
}
return sm;
}
