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vmount: fix print status output, adjust stack size, improve error handling

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This commit is contained in:
Beat Küng
2016-09-06 11:33:18 +02:00
parent 0a95c447b0
commit 41913c4a80
5 changed files with 73 additions and 57 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/vmount/CMakeLists.txt
-2
View File
@@ -34,8 +34,6 @@ px4_add_module(
MODULE drivers__vmount
MAIN vmount
STACK_MAIN 1024
COMPILE_FLAGS
-Os
SRCS
input.cpp
input_mavlink.cpp
src/drivers/vmount/common.h
+2 -1
View File
@@ -80,7 +80,8 @@ struct ControlData {
} type_data;
bool stabilize_axis[3] = { false, false, false }; /**< whether the vmount driver should stabilize an axis */
bool stabilize_axis[3] = { false, false, false }; /**< whether the vmount driver should stabilize an axis
(if the output supports it, this can also be done externally) */
bool gimbal_shutter_retract = false; /**< whether to lock the gimbal (only in RC output mode) */
src/drivers/vmount/input_rc.h
+4 -5
View File
@@ -64,19 +64,18 @@ public:
InputRC(int aux_channel_roll, int aux_channel_pitch, int aux_channel_yaw);
virtual ~InputRC();
virtual void print_status();
protected:
virtual int update_impl(unsigned int timeout_ms, ControlData **control_data);
virtual int initialize();
virtual void print_status();
private:
float _get_aux_value(const manual_control_setpoint_s &manual_control_setpoint, int channel_idx);
virtual void _read_control_data_from_subscription(ControlData &control_data);
int _get_subscription_fd() const { return _manual_control_setpoint_sub; }
void _read_control_data_from_subscription(ControlData &control_data);
private:
float _get_aux_value(const manual_control_setpoint_s &manual_control_setpoint, int channel_idx);
int _aux_channels[3];
int _manual_control_setpoint_sub = -1;
src/drivers/vmount/output.h
+2
View File
@@ -101,6 +101,8 @@ protected:
float _angle_outputs[3] = { 0.f, 0.f, 0.f };
hrt_abstime _last_update;
int _get_vehicle_attitude_sub() const { return _vehicle_attitude_sub; }
private:
int _vehicle_attitude_sub = -1;
int _vehicle_global_position_sub = -1;
src/drivers/vmount/vmount.cpp
+65 -49
View File
@@ -67,7 +67,11 @@ using namespace vmount;
/* thread state */
static volatile bool thread_should_exit = false;
static volatile bool thread_running = false;
static volatile bool thread_do_report_status = false;
struct ThreadData {
InputBase *input_obj = nullptr;
OutputBase *output_obj = nullptr;
};
static volatile ThreadData *g_thread_data = nullptr;
struct Parameters {
int mnt_mode_in;
@@ -128,11 +132,24 @@ static int vmount_thread_main(int argc, char *argv[])
{
ParameterHandles param_handles;
Parameters params;
OutputConfig output_config;
ThreadData thread_data;
memset(&params, 0, sizeof(params));
InputTest *test_input = nullptr;
#ifdef __PX4_NUTTX
/* the NuttX optarg handler does not
* ignore argv[0] like the POSIX handler
* does, nor does it deal with non-flag
* verbs well. So we Remove the application
* name and the verb.
*/
argc -= 1;
argv += 1;
#endif
if (argc > 0 && !strcmp(argv[0], "test")) {
PX4_INFO("Starting in test mode");
@@ -175,15 +192,13 @@ static int vmount_thread_main(int argc, char *argv[])
int parameter_update_sub = orb_subscribe(ORB_ID(parameter_update));
thread_running = true;
OutputConfig output_config;
ControlData *control_data = nullptr;
InputBase *input_obj = nullptr;
OutputBase *output_obj = nullptr;
InputRC *manual_input = nullptr;
g_thread_data = &thread_data;
while (!thread_should_exit) {
if (!input_obj && params.mnt_mode_in != 0) { //need to initialize
if (!thread_data.input_obj && params.mnt_mode_in != 0) { //need to initialize
output_config.gimbal_normal_mode_value = params.mnt_ob_norm_mode;
output_config.gimbal_retracted_mode_value = params.mnt_ob_lock_mode;
@@ -191,7 +206,7 @@ static int vmount_thread_main(int argc, char *argv[])
output_config.mavlink_comp_id = params.mnt_mav_compid;
if (test_input) {
input_obj = test_input;
thread_data.input_obj = test_input;
} else {
if (params.mnt_man_control) {
@@ -206,21 +221,21 @@ static int vmount_thread_main(int argc, char *argv[])
switch (params.mnt_mode_in) {
case 1: //RC
if (manual_input) {
input_obj = manual_input;
thread_data.input_obj = manual_input;
manual_input = nullptr;
} else {
input_obj = new InputRC(params.mnt_man_roll, params.mnt_man_pitch, params.mnt_man_yaw);
thread_data.input_obj = new InputRC(params.mnt_man_roll, params.mnt_man_pitch, params.mnt_man_yaw);
}
break;
case 2: //MAVLINK_ROI
input_obj = new InputMavlinkROI(manual_input);
thread_data.input_obj = new InputMavlinkROI(manual_input);
break;
case 3: //MAVLINK_DO_MOUNT
input_obj = new InputMavlinkCmdMount(manual_input);
thread_data.input_obj = new InputMavlinkCmdMount(manual_input);
break;
default:
@@ -231,11 +246,11 @@ static int vmount_thread_main(int argc, char *argv[])
switch (params.mnt_mode_out) {
case 0: //AUX
output_obj = new OutputRC(output_config);
thread_data.output_obj = new OutputRC(output_config);
break;
case 1: //MAVLINK
output_obj = new OutputMavlink(output_config);
thread_data.output_obj = new OutputMavlink(output_config);
break;
default:
@@ -243,13 +258,13 @@ static int vmount_thread_main(int argc, char *argv[])
break;
}
if (!input_obj || !output_obj) {
if (!thread_data.input_obj || !thread_data.output_obj) {
PX4_ERR("memory allocation failed");
thread_should_exit = true;
break;
}
int ret = output_obj->initialize();
int ret = thread_data.output_obj->initialize();
if (ret) {
PX4_ERR("failed to initialize output mode (%i)", ret);
@@ -262,7 +277,7 @@ static int vmount_thread_main(int argc, char *argv[])
//get input: we cannot make the timeout too large, because the output needs to update
//periodically for stabilization and angle updates.
int ret = input_obj->update(50, &control_data);
int ret = thread_data.input_obj->update(50, &control_data);
if (ret) {
PX4_ERR("failed to read input (%i)", ret);
@@ -270,7 +285,7 @@ static int vmount_thread_main(int argc, char *argv[])
}
//update output
ret = output_obj->update(control_data);
ret = thread_data.output_obj->update(control_data);
if (ret) {
PX4_ERR("failed to write output (%i)", ret);
@@ -298,14 +313,14 @@ static int vmount_thread_main(int argc, char *argv[])
if (updated) {
//re-init objects
if (input_obj) {
delete(input_obj);
input_obj = nullptr;
if (thread_data.input_obj) {
delete(thread_data.input_obj);
thread_data.input_obj = nullptr;
}
if (output_obj) {
delete(output_obj);
output_obj = nullptr;
if (thread_data.output_obj) {
delete(thread_data.output_obj);
thread_data.output_obj = nullptr;
}
if (manual_input) {
@@ -314,38 +329,25 @@ static int vmount_thread_main(int argc, char *argv[])
}
}
}
if (thread_do_report_status) {
if (input_obj) {
input_obj->print_status();
} else {
PX4_INFO("Input: None");
}
if (output_obj) {
output_obj->print_status();
} else {
PX4_INFO("Output: None");
}
thread_do_report_status = false;
}
}
g_thread_data = nullptr;
orb_unsubscribe(parameter_update_sub);
if (input_obj) {
delete(input_obj);
if (thread_data.input_obj) {
delete(thread_data.input_obj);
thread_data.input_obj = nullptr;
}
if (output_obj) {
delete(output_obj);
if (thread_data.output_obj) {
delete(thread_data.output_obj);
thread_data.output_obj = nullptr;
}
if (manual_input) {
delete(manual_input);
manual_input = nullptr;
}
thread_running = false;
@@ -376,7 +378,7 @@ int vmount_main(int argc, char *argv[])
int vmount_task = px4_task_spawn_cmd("vmount",
SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT + 40,
1200,
1500,
vmount_thread_main,
(char *const *)argv + 1);
@@ -390,6 +392,11 @@ int vmount_main(int argc, char *argv[])
}
}
if (vmount_task < 0) {
PX4_ERR("failed to start");
return -1;
}
return counter < 100 || thread_should_exit ? 0 : -1;
}
@@ -411,11 +418,20 @@ int vmount_main(int argc, char *argv[])
}
if (!strcmp(argv[1], "status")) {
if (thread_running) {
thread_do_report_status = true;
if (thread_running && g_thread_data) {
while (thread_do_report_status) {
usleep(10000);
if (g_thread_data->input_obj) {
g_thread_data->input_obj->print_status();
} else {
PX4_INFO("Input: None");
}
if (g_thread_data->output_obj) {
g_thread_data->output_obj->print_status();
} else {
PX4_INFO("Output: None");
}
} else {