PX4-Autopilot/src/modules/events/send_event.cpp

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#include "send_event.h"

#include <math.h>

#include <px4_platform_common/getopt.h>
#include <px4_platform_common/log.h>
#include <drivers/drv_hrt.h>

using namespace time_literals;

namespace events
{

// Run it at 30 Hz.
static constexpr uint32_t SEND_EVENT_INTERVAL_US{1_s / 30};

int SendEvent::task_spawn(int argc, char *argv[])
{
	SendEvent *send_event = new SendEvent();

	if (!send_event) {
		PX4_ERR("alloc failed");
		return PX4_ERROR;
	}

	_object.store(send_event);
	_task_id = task_id_is_work_queue;

	send_event->start();

	return 0;
}

SendEvent::SendEvent() :
	ModuleParams(nullptr),
	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::lp_default)
{
	if (_param_ev_tsk_stat_dis.get()) {
		_status_display = new status::StatusDisplay();
	}

	if (_param_ev_tsk_rc_loss.get()) {
		_rc_loss_alarm = new rc_loss::RC_Loss_Alarm();
	}
}

SendEvent::~SendEvent()
{
	ScheduleClear();

	delete _status_display;
	delete _rc_loss_alarm;
}

int SendEvent::start()
{
	ScheduleOnInterval(SEND_EVENT_INTERVAL_US, 10000);

	return PX4_OK;
}

void SendEvent::Run()
{
	if (should_exit()) {
		exit_and_cleanup();
		return;
	}

	process_commands();

	if (_status_display != nullptr) {
		_status_display->process();
	}

	if (_rc_loss_alarm != nullptr) {
		_rc_loss_alarm->process();
	}
}

void SendEvent::process_commands()
{
	// TODO: do something with vehicle commands
	// TODO: what is this modules purpose?
}

void SendEvent::answer_command(const vehicle_command_s &cmd, unsigned result)
{
	/* publish ACK */
	vehicle_command_ack_s command_ack{};
	command_ack.timestamp = hrt_absolute_time();
	command_ack.command = cmd.command;
	command_ack.result = (uint8_t)result;
	command_ack.target_system = cmd.source_system;
	command_ack.target_component = cmd.source_component;

	uORB::Publication<vehicle_command_ack_s>	command_ack_pub{ORB_ID(vehicle_command_ack)};
	command_ack_pub.publish(command_ack);
}

int SendEvent::print_usage(const char *reason)
{
	if (reason) {
		printf("%s\n\n", reason);
	}

	PRINT_MODULE_DESCRIPTION(
		R"DESCR_STR(
### Description
Background process running periodically on the LP work queue to perform housekeeping tasks.
It is currently only responsible for tone alarm on RC Loss.

The tasks can be started via CLI or uORB topics (vehicle_command from MAVLink, etc.).
)DESCR_STR");

	PRINT_MODULE_USAGE_NAME("send_event", "system");
	PRINT_MODULE_USAGE_COMMAND_DESCR("start", "Start the background task");
	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();

	return 0;
}

int SendEvent::custom_command(int argc, char *argv[])
{
	// TODO: what is my purpose?
	print_usage("unrecognized command");

	return 0;
}

int send_event_main(int argc, char *argv[])
{
	return SendEvent::main(argc, argv);
}

} /* namespace events */