mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-06-29 03:40:35 +08:00
Lorenz Meier
76 lines
2.7 KiB
C++
76 lines
2.7 KiB
C++
/****************************************************************************
|
|
*
|
|
* Copyright (c) 2017 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.
|
|
*
|
|
****************************************************************************/
|
|
|
|
#pragma once
|
|
|
|
#include <px4_workqueue.h>
|
|
#include <uORB/topics/vehicle_command.h>
|
|
#include <uORB/topics/vehicle_command_ack.h>
|
|
|
|
extern "C" __EXPORT int send_event_main(int argc, char *argv[]);
|
|
|
|
class SendEvent
|
|
{
|
|
public:
|
|
/** Start background listening for commands
|
|
*
|
|
* @return 0 if successfull, -1 on error. */
|
|
int start();
|
|
|
|
/** Stop background listener */
|
|
void stop();
|
|
|
|
bool is_running() { return _task_is_running; }
|
|
|
|
void print_status();
|
|
|
|
private:
|
|
/** Trampoline for the work queue. */
|
|
static void cycle_trampoline(void *arg);
|
|
|
|
/** call process_commands() and schedule the next cycle. */
|
|
void cycle();
|
|
|
|
/** check for new commands and process them. */
|
|
void process_commands();
|
|
|
|
/** return an ACK to a vehicle_command */
|
|
void answer_command(const vehicle_command_s &cmd, unsigned result);
|
|
|
|
volatile bool _task_should_exit = false;
|
|
volatile bool _task_is_running = false;
|
|
struct work_s _work = {};
|
|
int _vehicle_command_sub = -1;
|
|
orb_advert_t _command_ack_pub = nullptr;
|
|
};
|