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rc_loss_alarm: Added some custom commands

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This commit is contained in:
Alessandro Simovic 2018-06-26 11:41:19 +02:00 committed by Beat Küng
parent c0db004294
commit c8ff5f09d4
2 changed files with 43 additions and 3 deletions
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35
src/modules/rc_loss_alarm/rc_loss_alarm.cpp
View File

@ -45,6 +45,9 @@
// Init static members
work_s RC_Loss_Alarm::_work = {};
bool RC_Loss_Alarm::_was_armed = false;
orb_advert_t RC_Loss_Alarm::_tune_control_pub = nullptr;
RC_Loss_Alarm::RC_Loss_Alarm()
{
@ -99,6 +102,14 @@ int RC_Loss_Alarm::task_spawn(int argc, char *argv[])
/** @see ModuleBase */
int RC_Loss_Alarm::custom_command(int argc, char *argv[])
{
if (!strcmp(argv[0], "test")) {
RC_Loss_Alarm::pub_tune();
return PX4_OK;
} else if (!strcmp(argv[0], "reset")) {
return RC_Loss_Alarm::reset_module();
}
return print_usage("unknown command");
}
@ -123,6 +134,8 @@ rc_loss_alarm start
PRINT_MODULE_USAGE_COMMAND_DESCR("start", "Start the task");
PRINT_MODULE_USAGE_COMMAND_DESCR("stop", "Stop the task");
PRINT_MODULE_USAGE_COMMAND_DESCR("status", "Display running status of task");
PRINT_MODULE_USAGE_COMMAND_DESCR("test", "Start alarm tune, can be stopped with 'reset'");
PRINT_MODULE_USAGE_COMMAND_DESCR("reset", "Resets internal state and stops an eventual alarm");
return PX4_OK;
}
@ -147,6 +160,22 @@ void RC_Loss_Alarm::pub_tune()
}
}
void RC_Loss_Alarm::stop_tune()
{
struct tune_control_s tune_control = {};
tune_control.tune_id = static_cast<int>(TuneID::CUSTOM);
tune_control.frequency = 0;
tune_control.duration = 0;
tune_control.silence = 0;
tune_control.tune_override = true;
if (_tune_control_pub == nullptr) {
_tune_control_pub = orb_advertise(ORB_ID(tune_control), &tune_control);
}else{
orb_publish(ORB_ID(tune_control), _tune_control_pub, &tune_control);
}
}
void RC_Loss_Alarm::cycle()
{
// Subscribe if necessary
@ -181,6 +210,12 @@ void RC_Loss_Alarm::cycle()
}
}
int RC_Loss_Alarm::reset_module(){
RC_Loss_Alarm::_was_armed = false;
RC_Loss_Alarm::stop_tune();
return PX4_OK;
}
// module 'main' command
extern "C" __EXPORT int rc_loss_alarm_main(int argc, char *argv[]);
int rc_loss_alarm_main(int argc, char *argv[])

11
src/modules/rc_loss_alarm/rc_loss_alarm.h
View File

@ -62,10 +62,15 @@ private:
static struct work_s _work;
int _vehicle_status_sub = -1;
struct vehicle_status_s _vehicle_status = {};
orb_advert_t _tune_control_pub = nullptr;
bool _was_armed = false;
static orb_advert_t _tune_control_pub;
static bool _was_armed;
static void cycle_trampoline(void *arg);
void cycle();
void pub_tune();
static void pub_tune();
static void stop_tune();
static int reset_module();
// Do not allow class copies
RC_Loss_Alarm(const RC_Loss_Alarm &other);
};