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synced 2026-06-30 06:40:35 +08:00
send_event: convert to use ModuleBase
This commit is contained in:
Beat Küng
@@ -38,14 +38,13 @@
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#include <px4_log.h>
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#include <drivers/drv_hrt.h>
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static SendEvent *send_event_obj = nullptr;
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struct work_s SendEvent::_work = {};
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// Run it at 30 Hz.
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const unsigned SEND_EVENT_INTERVAL_US = 33000;
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int SendEvent::initialize()
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int SendEvent::task_spawn(int argc, char *argv[])
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{
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int ret = work_queue(LPWORK, &_work, (worker_t)&SendEvent::initialize_trampoline, nullptr, 0);
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@@ -59,13 +58,14 @@ int SendEvent::initialize()
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/* wait up to 1s */
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usleep(2500);
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} while ((!send_event_obj || !send_event_obj->is_running()) && ++i < 400);
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} while (!_object && ++i < 400);
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if (i == 400) {
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PX4_ERR("failed to start");
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return -1;
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}
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_task_id = task_id_is_work_queue;
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return 0;
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}
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@@ -75,13 +75,10 @@ SendEvent::SendEvent()
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int SendEvent::start()
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{
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if (_task_is_running) {
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if (is_running()) {
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return 0;
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}
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_task_is_running = true;
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_task_should_exit = false;
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_vehicle_command_sub = orb_subscribe(ORB_ID(vehicle_command));
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// Kick off the cycling. We can call it directly because we're already in the work queue context
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@@ -90,37 +87,17 @@ int SendEvent::start()
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return 0;
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}
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void SendEvent::stop()
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{
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if (!_task_is_running) {
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return;
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}
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_task_should_exit = true;
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// Wait for task to exit
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int i = 0;
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do {
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/* wait up to 3s */
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usleep(100000);
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} while (_task_is_running && ++i < 30);
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if (i == 30) {
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PX4_ERR("failed to stop");
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}
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}
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void SendEvent::initialize_trampoline(void *arg)
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{
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send_event_obj = new SendEvent();
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SendEvent *send_event = new SendEvent();
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if (!send_event_obj) {
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if (!send_event) {
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PX4_ERR("alloc failed");
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return;
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}
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send_event_obj->start();
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send_event->start();
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_object = send_event;
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}
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void
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@@ -133,13 +110,13 @@ SendEvent::cycle_trampoline(void *arg)
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void SendEvent::cycle()
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{
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if (_task_should_exit) {
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if (should_exit()) {
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if (_vehicle_command_sub >= 0) {
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orb_unsubscribe(_vehicle_command_sub);
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_vehicle_command_sub = -1;
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}
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_task_is_running = false;
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exit_and_cleanup();
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return;
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}
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@@ -213,63 +190,44 @@ void SendEvent::answer_command(const vehicle_command_s &cmd, unsigned result)
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}
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void SendEvent::print_status()
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{
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PX4_INFO("running");
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}
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static void print_usage(const char *reason = nullptr)
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int SendEvent::print_usage(const char *reason)
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{
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if (reason) {
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PX4_WARN("%s\n", reason);
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printf("%s\n\n", reason);
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}
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PX4_INFO("usage: send_event {start_listening|stop_listening|status|temperature_calibration}\n"
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"\tstart_listening: start background task to listen to events\n"
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"\ttemperature_calibration [-g] [-a] [-b]: start temperature calibration task\n"
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"\t all sensors if no option given, 1 or several of gyro, accel, baro otherwise\n"
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);
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}
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PRINT_MODULE_DESCRIPTION(
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R"DESCR_STR(
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Background process running periodically on the LP work queue to perform housekeeping tasks.
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It is currently only responsible for temperature calibration.
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The tasks can be started via CLI or uORB topics (vehicle_command from MAVLink, etc.).
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)DESCR_STR");
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PRINT_MODULE_USAGE_NAME("send_event", "system");
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PRINT_MODULE_USAGE_COMMAND_DESCR("start", "Start the background task");
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PRINT_MODULE_USAGE_COMMAND_DESCR("temperature_calibration", "Run temperature calibration process");
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PRINT_MODULE_USAGE_PARAM_FLAG('g', "calibrate the gyro", true);
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PRINT_MODULE_USAGE_PARAM_FLAG('a', "calibrate the accel", true);
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PRINT_MODULE_USAGE_PARAM_FLAG('b', "calibrate the baro (if none of these is given, all will be calibrated)", true);
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PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
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return 0;
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}
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int send_event_main(int argc, char *argv[])
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{
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if (argc < 2) {
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print_usage();
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return 1;
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}
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return SendEvent::main(argc, argv);
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}
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if (!strcmp(argv[1], "start_listening")) {
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if (send_event_obj) {
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PX4_INFO("already running");
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return -1;
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}
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int SendEvent::custom_command(int argc, char *argv[])
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{
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if (!strcmp(argv[0], "temperature_calibration")) {
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return SendEvent::initialize();
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} else if (!strcmp(argv[1], "stop_listening")) {
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if (send_event_obj) {
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send_event_obj->stop();
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delete send_event_obj;
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send_event_obj = nullptr;
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}
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} else if (!strcmp(argv[1], "status")) {
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if (send_event_obj) {
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send_event_obj->print_status();
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} else {
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PX4_INFO("not running");
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}
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} else if (!strcmp(argv[1], "temperature_calibration")) {
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if (!send_event_obj) {
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if (!is_running()) {
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PX4_ERR("background task not running");
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return -1;
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}
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