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

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#include "send_event.h"
#include "temperature_calibration/temperature_calibration.h"

#include <px4_getopt.h>
#include <px4_log.h>
#include <drivers/drv_hrt.h>

struct work_s SendEvent::_work = {};

// Run it at 30 Hz.
const unsigned SEND_EVENT_INTERVAL_US = 33000;


int SendEvent::task_spawn(int argc, char *argv[])
{
	int ret = work_queue(LPWORK, &_work, (worker_t)&SendEvent::initialize_trampoline, nullptr, 0);

	if (ret < 0) {
		return ret;
	}

	ret = wait_until_running();

	if (ret < 0) {
		return ret;
	}

	_task_id = task_id_is_work_queue;

	return 0;
}

SendEvent::SendEvent()
{
}

int SendEvent::start()
{
	if (is_running()) {
		return 0;
	}

	_vehicle_command_sub = orb_subscribe(ORB_ID(vehicle_command));

	// Kick off the cycling. We can call it directly because we're already in the work queue context
	cycle();

	return 0;
}

void SendEvent::initialize_trampoline(void *arg)
{
	SendEvent *send_event = new SendEvent();

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

	send_event->start();
	_object = send_event;
}

void
SendEvent::cycle_trampoline(void *arg)
{
	SendEvent *obj = reinterpret_cast<SendEvent *>(arg);

	obj->cycle();
}

void SendEvent::cycle()
{
	if (should_exit()) {
		if (_vehicle_command_sub >= 0) {
			orb_unsubscribe(_vehicle_command_sub);
			_vehicle_command_sub = -1;
		}

		exit_and_cleanup();
		return;
	}

	process_commands();

	work_queue(LPWORK, &_work, (worker_t)&SendEvent::cycle_trampoline, this,
		   USEC2TICK(SEND_EVENT_INTERVAL_US));
}

void SendEvent::process_commands()
{
	bool updated;
	orb_check(_vehicle_command_sub, &updated);

	if (!updated) {
		return;
	}

	struct vehicle_command_s cmd;

	orb_copy(ORB_ID(vehicle_command), _vehicle_command_sub, &cmd);

	bool got_temperature_calibration_command = false, accel = false, baro = false, gyro = false;

	switch (cmd.command) {
	case vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION:
		if ((int)(cmd.param1) == vehicle_command_s::PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION) {
			gyro = true;
			got_temperature_calibration_command = true;
		}

		if ((int)(cmd.param5) == vehicle_command_s::PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION) {
			accel = true;
			got_temperature_calibration_command = true;
		}

		if ((int)(cmd.param7) == vehicle_command_s::PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION) {
			baro = true;
			got_temperature_calibration_command = true;
		}

		if (got_temperature_calibration_command) {
			if (run_temperature_calibration(accel, baro, gyro) == 0) {
				answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);

			} else {
				answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_FAILED);
			}
		}

		break;
	}

}

void SendEvent::answer_command(const vehicle_command_s &cmd, unsigned result)
{
	/* publish ACK */
	struct vehicle_command_ack_s command_ack = {
		.timestamp = hrt_absolute_time(),
		.result_param2 = 0,
		.command = cmd.command,
		.result = (uint8_t)result,
		.from_external = 0,
		.result_param1 = 0,
		.target_system = cmd.source_system,
		.target_component = cmd.source_component
	};

	if (_command_ack_pub != nullptr) {
		orb_publish(ORB_ID(vehicle_command_ack), _command_ack_pub, &command_ack);

	} else {
		_command_ack_pub = orb_advertise_queue(ORB_ID(vehicle_command_ack), &command_ack,
						       vehicle_command_ack_s::ORB_QUEUE_LENGTH);
	}
}



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 temperature calibration.

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_COMMAND_DESCR("temperature_calibration", "Run temperature calibration process");
	PRINT_MODULE_USAGE_PARAM_FLAG('g', "calibrate the gyro", true);
	PRINT_MODULE_USAGE_PARAM_FLAG('a', "calibrate the accel", true);
	PRINT_MODULE_USAGE_PARAM_FLAG('b', "calibrate the baro (if none of these is given, all will be calibrated)", true);
	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();

	return 0;
}


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


int SendEvent::custom_command(int argc, char *argv[])
{
	if (!strcmp(argv[0], "temperature_calibration")) {

		if (!is_running()) {
			PX4_ERR("background task not running");
			return -1;
		}

		bool gyro_calib = false, accel_calib = false, baro_calib = false;
		bool calib_all = true;
		int myoptind = 1;
		int ch;
		const char *myoptarg = nullptr;

		while ((ch = px4_getopt(argc, argv, "abg", &myoptind, &myoptarg)) != EOF) {
			switch (ch) {
			case 'a':
				accel_calib = true;
				calib_all = false;
				break;

			case 'b':
				baro_calib = true;
				calib_all = false;
				break;

			case 'g':
				gyro_calib = true;
				calib_all = false;
				break;

			default:
				print_usage("unrecognized flag");
				return 1;
			}
		}

		struct vehicle_command_s cmd = {
			.timestamp = 0,
			.param5 = (float)((accel_calib || calib_all) ? vehicle_command_s::PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION : NAN),
			.param6 = NAN,
			.param1 = (float)((gyro_calib || calib_all) ? vehicle_command_s::PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION : NAN),
			.param2 = NAN,
			.param3 = NAN,
			.param4 = NAN,
			.param7 = (float)((baro_calib || calib_all) ? vehicle_command_s::PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION : NAN),
			.command = vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION
		};

		orb_advert_t h = orb_advertise_queue(ORB_ID(vehicle_command), &cmd, vehicle_command_s::ORB_QUEUE_LENGTH);
		(void)orb_unadvertise(h);

	} else {
		print_usage("unrecognized command");
	}

	return 0;
}