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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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295 lines
7.1 KiB
C++
295 lines
7.1 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2017 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include "send_event.h"
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#include "temperature_calibration/temperature_calibration.h"
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#include <px4_getopt.h>
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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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// Run it at 30 Hz.
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const unsigned SEND_EVENT_INTERVAL_US = 33000;
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int SendEvent::start()
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{
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if (_task_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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/* Schedule a cycle to start things. */
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return work_queue(LPWORK, &_work, (worker_t)&SendEvent::cycle_trampoline, this, 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
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SendEvent::cycle_trampoline(void *arg)
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{
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SendEvent *obj = reinterpret_cast<SendEvent *>(arg);
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obj->cycle();
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}
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void SendEvent::cycle()
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{
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if (_task_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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return;
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}
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// check if not yet initialized. we have to do it here, because it's running in a different context than initialisation
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if (_vehicle_command_sub < 0) {
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_vehicle_command_sub = orb_subscribe(ORB_ID(vehicle_command));
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}
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process_commands();
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work_queue(LPWORK, &_work, (worker_t)&SendEvent::cycle_trampoline, this,
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USEC2TICK(SEND_EVENT_INTERVAL_US));
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}
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void SendEvent::process_commands()
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{
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struct vehicle_command_s cmd;
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bool updated;
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orb_check(_vehicle_command_sub, &updated);
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if (!updated) {
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return;
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}
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orb_copy(ORB_ID(vehicle_command), _vehicle_command_sub, &cmd);
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bool got_temperature_calibration_command = false, accel = false, baro = false, gyro = false;
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switch (cmd.command) {
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case vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION:
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if ((int)(cmd.param1) == 2) { //TODO: this (and the others) needs to be specified in mavlink...
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gyro = true;
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got_temperature_calibration_command = true;
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}
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if ((int)(cmd.param5) == 2) {
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accel = true;
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got_temperature_calibration_command = true;
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}
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if ((int)(cmd.param7) == 2) {
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baro = true;
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got_temperature_calibration_command = true;
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}
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if (got_temperature_calibration_command) {
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if (run_temperature_calibration(accel, baro, gyro) == 0) {
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answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
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} else {
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answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_FAILED);
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}
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}
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break;
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}
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}
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void SendEvent::answer_command(const vehicle_command_s &cmd, unsigned result)
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{
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struct vehicle_command_ack_s command_ack;
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/* publish ACK */
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command_ack.command = cmd.command;
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command_ack.result = result;
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command_ack.timestamp = hrt_absolute_time();
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if (_command_ack_pub != nullptr) {
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orb_publish(ORB_ID(vehicle_command_ack), _command_ack_pub, &command_ack);
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} else {
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_command_ack_pub = orb_advertise_queue(ORB_ID(vehicle_command_ack), &command_ack,
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vehicle_command_ack_s::ORB_QUEUE_LENGTH);
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}
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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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{
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if (reason) {
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PX4_WARN("%s\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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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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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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} else {
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send_event_obj = new SendEvent();
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if (!send_event_obj) {
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PX4_ERR("alloc failed");
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return -1;
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}
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return send_event_obj->start();
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}
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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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PX4_ERR("background task not running");
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return -1;
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}
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bool gyro_calib = false, accel_calib = false, baro_calib = false;
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bool calib_all = true;
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int myoptind = 1;
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int ch;
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const char *myoptarg = nullptr;
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while ((ch = px4_getopt(argc, argv, "abg", &myoptind, &myoptarg)) != EOF) {
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switch (ch) {
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case 'a':
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accel_calib = true;
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calib_all = false;
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break;
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case 'b':
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baro_calib = true;
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calib_all = false;
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break;
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case 'g':
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gyro_calib = true;
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calib_all = false;
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break;
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default:
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print_usage("unrecognized flag");
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return 1;
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}
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}
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vehicle_command_s cmd = {};
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cmd.target_system = -1;
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cmd.target_component = -1;
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cmd.command = vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION;
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cmd.param1 = (gyro_calib || calib_all) ? 2 : NAN;
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cmd.param2 = NAN;
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cmd.param3 = NAN;
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cmd.param4 = NAN;
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cmd.param5 = (accel_calib || calib_all) ? 2 : NAN;
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cmd.param6 = NAN;
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cmd.param7 = (baro_calib || calib_all) ? 2 : NAN;
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orb_advert_t h = orb_advertise_queue(ORB_ID(vehicle_command), &cmd, vehicle_command_s::ORB_QUEUE_LENGTH);
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(void)orb_unadvertise(h);
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} else {
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print_usage("unrecognized command");
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}
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return 0;
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}
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