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chore(platforms): drop dead cdc_acm_check.cpp resurrected by rebase

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Main removed this file in f05739035e (#28185) when USB autostart moved
into the cdcacm_autostart driver. The NuttX upgrade rebase brought back
a NuttX 12 adaptation of it, but nothing references it in any build
file, so it is 370 lines of dead code.

Assisted-by: Claude:claude-fable-5
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
This commit is contained in:
Ramon Roche
2026-09-01 13:54:50 -07:00
parent ccc62175e4
commit 296c1e4297
1 changed files with 0 additions and 370 deletions
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370
platforms/nuttx/src/px4/common/cdc_acm_check.cpp
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@@ -1,370 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2019-2022 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include <board_config.h>
#if defined(CONFIG_SYSTEM_CDCACM)
__BEGIN_DECLS
#include <board_config.h>
#include <arch/board/board.h>
#include <syslog.h>
#include <nuttx/wqueue.h>
#include <builtin/builtin.h>
#include <termios.h>
#include <sys/ioctl.h>
#include <fcntl.h>
extern int sercon_main(int c, char **argv);
extern int serdis_main(int c, char **argv);
__END_DECLS
#include <px4_platform_common/shutdown.h>
#include <uORB/Subscription.hpp>
#include <uORB/topics/actuator_armed.h>
#define USB_DEVICE_PATH "/dev/ttyACM0"
#if defined(CONFIG_SERIAL_PASSTHRU_UBLOX)
# undef SERIAL_PASSTHRU_UBLOX_DEV
# if defined(CONFIG_SERIAL_PASSTHRU_GPS1) && defined(CONFIG_BOARD_SERIAL_GPS1)
# define SERIAL_PASSTHRU_UBLOX_DEV CONFIG_BOARD_SERIAL_GPS1
# elif defined(CONFIG_SERIAL_PASSTHRU_GPS2)&& defined(CONFIG_BOARD_SERIAL_GPS2)
# define SERIAL_PASSTHRU_UBLOX_DEV CONFIG_BOARD_SERIAL_GPS2
# elif defined(CONFIG_SERIAL_PASSTHRU_GPS3)&& defined(CONFIG_BOARD_SERIAL_GPS3)
# define SERIAL_PASSTHRU_UBLOX_DEV CONFIG_BOARD_SERIAL_GPS3
# elif defined(CONFIG_SERIAL_PASSTHRU_GPS4)&& defined(CONFIG_BOARD_SERIAL_GPS4)
# define SERIAL_PASSTHRU_UBLOX_DEV CONFIG_BOARD_SERIAL_GPS4
# elif defined(CONFIG_SERIAL_PASSTHRU_GPS5) && defined(CONFIG_BOARD_SERIAL_GPS5)
# define SERIAL_PASSTHRU_UBLOX_DEV CONFIG_BOARD_SERIAL_GPS5
# endif
# if !defined(SERIAL_PASSTHRU_UBLOX_DEV)
# error "CONFIG_SERIAL_PASSTHRU_GPSn and CONFIG_BOARD_SERIAL_GPSn must be defined"
# endif
#endif
static struct work_s usb_serial_work;
static bool vbus_present_prev = false;
static int ttyacm_fd = -1;
enum class UsbAutoStartState {
disconnected,
connecting,
connected,
disconnecting,
} usb_auto_start_state{UsbAutoStartState::disconnected};
static void mavlink_usb_check(void *arg)
{
int rescheduled = -1;
uORB::SubscriptionData<actuator_armed_s> actuator_armed_sub{ORB_ID(actuator_armed)};
const bool armed = actuator_armed_sub.get().armed;
bool vbus_present = (board_read_VBUS_state() == PX4_OK);
bool locked_out = false;
// If the hardware support RESET lockout that has nArmed ANDed with VBUS
// vbus_sense may drop during a param save which uses
// BOARD_INDICATE_EXTERNAL_LOCKOUT_STATE to prevent external resets
// while writing the params. If we are not armed and nARMRED is low
// we are in such a lock out so ignore changes on VBUS_SENSE during this
// time.
#if defined(BOARD_GET_EXTERNAL_LOCKOUT_STATE)
locked_out = BOARD_GET_EXTERNAL_LOCKOUT_STATE() == 0;
if (locked_out) {
vbus_present = vbus_present_prev;
}
#endif
if (!armed && !locked_out) {
switch (usb_auto_start_state) {
case UsbAutoStartState::disconnected:
if (vbus_present && vbus_present_prev) {
if (sercon_main(0, nullptr) == EXIT_SUCCESS) {
usb_auto_start_state = UsbAutoStartState::connecting;
rescheduled = work_queue(LPWORK, &usb_serial_work, mavlink_usb_check, nullptr, USEC2TICK(100000));
}
} else if (vbus_present && !vbus_present_prev) {
// check again sooner if USB just connected
rescheduled = work_queue(LPWORK, &usb_serial_work, mavlink_usb_check, nullptr, USEC2TICK(100000));
}
break;
case UsbAutoStartState::connecting:
if (vbus_present && vbus_present_prev) {
if (ttyacm_fd < 0) {
ttyacm_fd = ::open(USB_DEVICE_PATH, O_RDONLY | O_NONBLOCK);
}
if (ttyacm_fd >= 0) {
int bytes_available = 0;
int retval = ::ioctl(ttyacm_fd, FIONREAD, &bytes_available);
if ((retval == OK) && (bytes_available >= 3)) {
char buffer[80];
// non-blocking read
int nread = ::read(ttyacm_fd, buffer, sizeof(buffer));
#if defined(DEBUG_BUILD)
if (nread > 0) {
fprintf(stderr, "%d bytes\n", nread);
for (int i = 0; i < nread; i++) {
fprintf(stderr, "|%X", buffer[i]);
}
fprintf(stderr, "\n");
}
#endif // DEBUG_BUILD
if (nread > 0) {
// Mavlink reboot/shutdown command
// COMMAND_LONG (#76) with command MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN (246)
static constexpr int MAVLINK_COMMAND_LONG_MIN_LENGTH = 41;
if (nread >= MAVLINK_COMMAND_LONG_MIN_LENGTH) {
// scan buffer for mavlink COMMAND_LONG
for (int i = 0; i < nread - MAVLINK_COMMAND_LONG_MIN_LENGTH; i++) {
if ((buffer[i] == 0xFE) // Mavlink v1 start byte
&& (buffer[i + 5] == 76) // 76=0x4C COMMAND_LONG
&& (buffer[i + 34] == 246) // 246=0xF6 MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN
) {
// mavlink v1 COMMAND_LONG
// buffer[0]: start byte (0xFE for mavlink v1)
// buffer[3]: SYSID
// buffer[4]: COMPID
// buffer[5]: message id (COMMAND_LONG 76=0x4C)
// buffer[6-10]: COMMAND_LONG param 1 (little endian float)
// buffer[34]: COMMAND_LONG command MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN (246/0xF6)
float param1_raw = 0;
memcpy(&param1_raw, &buffer[i + 6], 4);
int param1 = roundf(param1_raw);
syslog(LOG_INFO, "%s: Mavlink MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN param 1: %d (SYSID:%d COMPID:%d)\n",
USB_DEVICE_PATH, param1, buffer[i + 3], buffer[i + 4]);
if (param1 == 1) {
// 1: Reboot autopilot
px4_reboot_request(REBOOT_REQUEST, 0);
} else if (param1 == 2) {
// 2: Shutdown autopilot
#if defined(BOARD_HAS_POWER_CONTROL)
px4_shutdown_request(0);
#endif // BOARD_HAS_POWER_CONTROL
} else if (param1 == 3) {
// 3: Reboot autopilot and keep it in the bootloader until upgraded.
px4_reboot_request(REBOOT_TO_BOOTLOADER, 0);
}
}
}
}
bool launch_mavlink = false;
bool launch_nshterm = false;
bool launch_passthru = false;
struct termios uart_config;
static constexpr int MAVLINK_HEARTBEAT_MIN_LENGTH = 9;
if (nread >= MAVLINK_HEARTBEAT_MIN_LENGTH) {
// scan buffer for mavlink HEARTBEAT (v1 & v2)
for (int i = 0; i < nread - MAVLINK_HEARTBEAT_MIN_LENGTH; i++) {
if ((buffer[i] == 0xFE) && (buffer[i + 1] == 9) && (buffer[i + 5] == 0)) {
// mavlink v1 HEARTBEAT
// buffer[0]: start byte (0xFE for mavlink v1)
// buffer[1]: length (9 for HEARTBEAT)
// buffer[3]: SYSID
// buffer[4]: COMPID
// buffer[5]: mavlink message id (0 for HEARTBEAT)
syslog(LOG_INFO, "%s: launching mavlink (HEARTBEAT v1 from SYSID:%d COMPID:%d)\n",
USB_DEVICE_PATH, buffer[i + 3], buffer[i + 4]);
launch_mavlink = true;
break;
} else if ((buffer[i] == 0xFD) && (buffer[i + 1] == 9)
&& (buffer[i + 7] == 0) && (buffer[i + 8] == 0) && (buffer[i + 9] == 0)) {
// mavlink v2 HEARTBEAT
// buffer[0]: start byte (0xFD for mavlink v2)
// buffer[1]: length (9 for HEARTBEAT)
// buffer[5]: SYSID
// buffer[6]: COMPID
// buffer[7:9]: mavlink message id (0 for HEARTBEAT)
syslog(LOG_INFO, "%s: launching mavlink (HEARTBEAT v2 from SYSID:%d COMPID:%d)\n",
USB_DEVICE_PATH, buffer[i + 5], buffer[i + 6]);
launch_mavlink = true;
break;
}
}
}
if (!launch_mavlink && (nread >= 3)) {
// nshterm (3 carriage returns)
// scan buffer looking for 3 consecutive carriage returns (0xD)
for (int i = 1; i < nread - 1; i++) {
if (buffer[i - 1] == 0xD && buffer[i] == 0xD && buffer[i + 1] == 0xD) {
syslog(LOG_INFO, "%s: launching nshterm\n", USB_DEVICE_PATH);
launch_nshterm = true;
break;
}
}
}
#if defined(CONFIG_SERIAL_PASSTHRU_UBLOX)
if (!launch_mavlink && !launch_nshterm && (nread >= 4)) {
// passthru Ublox
// scan buffer looking for 0xb5 0x62
for (int i = 0; i < nread; i++) {
bool ub = buffer[i] == 0xb5 && buffer[i + 1] == 0x62;
if (ub && ((buffer[i + 2 ] == 0x6 && (buffer[i + 3 ] == 0xb8 || buffer[i + 3 ] == 0x13)) ||
(buffer[i + 2 ] == 0xa && buffer[i + 3 ] == 0x4))) {
syslog(LOG_INFO, "%s: launching serial_passthru\n", USB_DEVICE_PATH);
launch_passthru = true;
break;
}
}
}
#endif
if (launch_mavlink || launch_nshterm || launch_passthru) {
// Get the current settings
tcgetattr(ttyacm_fd, &uart_config);
// cleanup serial port
close(ttyacm_fd);
ttyacm_fd = -1;
static const char *mavlink_argv[] {"mavlink", "start", "-d", USB_DEVICE_PATH, nullptr};
static const char *nshterm_argv[] {"nshterm", USB_DEVICE_PATH, nullptr};
#if defined(CONFIG_SERIAL_PASSTHRU_UBLOX)
speed_t baudrate = cfgetspeed(&uart_config);
char baudstring[16];
snprintf(baudstring, sizeof(baudstring), "%ld", baudrate);
static const char *gps_argv[] {"gps", "stop", nullptr};
static const char *passthru_argv[] {"serial_passthru", "start", "-t", "-b", baudstring, "-e", USB_DEVICE_PATH, "-d", SERIAL_PASSTHRU_UBLOX_DEV, nullptr};
#endif
char **exec_argv = nullptr;
if (launch_nshterm) {
exec_argv = (char **)nshterm_argv;
} else if (launch_mavlink) {
exec_argv = (char **)mavlink_argv;
}
#if defined(CONFIG_SERIAL_PASSTHRU_UBLOX)
else if (launch_passthru) {
sched_lock();
exec_argv = (char **)gps_argv;
exec_builtin(exec_argv[0], exec_argv, nullptr);
#endif
sched_lock();
if (exec_builtin(exec_argv[0], exec_argv, nullptr) > 0) {
} else {
usb_auto_start_state = UsbAutoStartState::disconnecting;
}
sched_unlock();
}
}
}
}
} else {
// cleanup
if (ttyacm_fd >= 0) {
close(ttyacm_fd);
ttyacm_fd = -1;
}
usb_auto_start_state = UsbAutoStartState::disconnecting;
}
break;
case UsbAutoStartState::connected:
if (!vbus_present && !vbus_present_prev) {
sched_lock();
static const char app[] {"mavlink"};
static const char *stop_argv[] {"mavlink", "stop", "-d", USB_DEVICE_PATH, NULL};
exec_builtin(app, (char **)stop_argv, NULL, 0);
sched_unlock();
usb_auto_start_state = UsbAutoStartState::disconnecting;
}
break;
case UsbAutoStartState::disconnecting:
// serial disconnect if unused
serdis_main(0, NULL);
usb_auto_start_state = UsbAutoStartState::disconnected;
break;
}
}
vbus_present_prev = vbus_present;
if (rescheduled != PX4_OK) {
work_queue(LPWORK, &usb_serial_work, mavlink_usb_check, NULL, USEC2TICK(1000000));
}
}
void cdcacm_init(void) {
work_queue(LPWORK, &usb_serial_work, mavlink_usb_check, nullptr, 0);
}
#endif // CONFIG_SYSTEM_CDCACM