bottle_drop: started rewrite in C++

src/modules/bottle_drop/bottle_drop.cpp

@@ -0,0 +1,198 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013, 2014 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file bottle_drop.cpp
+ *
+ * Bottle drop module for Outback Challenge 2014, Team Swiss Fang
+ *
+ * @author Dominik Juchli <juchlid@ethz.ch>
+ * @author Julian Oes <joes@student.ethz.ch>
+ */
+
+#include <nuttx/config.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <math.h>
+#include <poll.h>
+#include <time.h>
+#include <sys/ioctl.h>
+#include <drivers/device/device.h>
+#include <drivers/drv_hrt.h>
+#include <arch/board/board.h>
+#include <uORB/uORB.h>
+#include <uORB/topics/vehicle_global_position.h>
+#include <systemlib/param/param.h>
+#include <systemlib/err.h>
+#include <geo/geo.h>
+#include <mathlib/mathlib.h>
+#include <mavlink/mavlink_log.h>
+
+
+/**
+ * bottle_drop app start / stop handling function
+ *
+ * @ingroup apps
+ */
+extern "C" __EXPORT int bottle_drop_main(int argc, char *argv[]);
+
+class BottleDrop  
+{
+public:
+	/**
+	 * Constructor
+	 */
+	BottleDrop();
+
+	/**
+	 * Destructor, also kills task.
+	 */
+	~BottleDrop();
+
+	/**
+	 * Start the task.
+	 *
+	 * @return		OK on success.
+	 */
+	int		start();
+
+	/**
+	 * Display status.
+	 */
+	void		status();
+
+private:
+	bool		_task_should_exit;		/**< if true, sensor task should exit */
+	int		_main_task;			/**< task handle for sensor task */
+
+	int		_mavlink_fd;
+};
+
+namespace bottle_drop
+{
+BottleDrop	*g_bottle_drop;
+}
+
+BottleDrop::BottleDrop() :
+
+	_task_should_exit(false),
+	_main_task(-1),
+	_mavlink_fd(-1)
+{
+}
+
+BottleDrop::~BottleDrop()
+{
+	if (_main_task != -1) {
+
+		/* task wakes up every 100ms or so at the longest */
+		_task_should_exit = true;
+
+		/* wait for a second for the task to quit at our request */
+		unsigned i = 0;
+
+		do {
+			/* wait 20ms */
+			usleep(20000);
+
+			/* if we have given up, kill it */
+			if (++i > 50) {
+				task_delete(_main_task);
+				break;
+			}
+		} while (_main_task != -1);
+	}
+
+	bottle_drop::g_bottle_drop = nullptr;
+}
+
+int BottleDrop::start()
+{
+}
+
+
+void BottleDrop::status()
+{
+}
+
+static void usage()
+{
+	errx(1, "usage: bottle_drop {start|stop|status}");
+}
+
+int bottle_drop_main(int argc, char *argv[])
+{
+	if (argc < 2) {
+		usage();
+	}
+
+	if (!strcmp(argv[1], "start")) {
+
+		if (bottle_drop::g_bottle_drop != nullptr) {
+			errx(1, "already running");
+		}
+
+		bottle_drop::g_bottle_drop = new BottleDrop;
+
+		if (bottle_drop::g_bottle_drop == nullptr) {
+			errx(1, "alloc failed");
+		}
+
+		if (OK != bottle_drop::g_bottle_drop->start()) {
+			delete bottle_drop::g_bottle_drop;
+			bottle_drop::g_bottle_drop = nullptr;
+			err(1, "start failed");
+		}
+
+		return 0;
+	}
+
+	if (bottle_drop::g_bottle_drop == nullptr)
+		errx(1, "not running");
+
+	if (!strcmp(argv[1], "stop")) {
+		delete bottle_drop::g_bottle_drop;
+		bottle_drop::g_bottle_drop = nullptr;
+
+	} else if (!strcmp(argv[1], "status")) {
+		bottle_drop::g_bottle_drop->status();
+	} else {
+		usage();
+	}
+
+	return 0;
+}

src/modules/bottle_drop/module.mk

@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2013, 2014 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
@@ -37,4 +37,4 @@
 
 MODULE_COMMAND		= bottle_drop
 
-SRCS			= bottle_drop.c
+SRCS			= bottle_drop.cpp