mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-20 19:57:36 +08:00
Daniel Agar
466b5db36f
- create common uORB::PublicationBase - uORB::PublicationQueued types are now type aliases - ORB_PRIO use enum type everywhere to avoid accidental misuse - PX4Accelerometer/PX4Gyroscope/etc driver libs explicitly advertise on construction, unadvertise on destruction. This is a workaround for any potential issues that might appear when accel/gyro cdev and uORB indexing doesn't align.
130 lines
4.5 KiB
C++
130 lines
4.5 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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#pragma once
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#include "status_display.h"
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#include "rc_loss_alarm.h"
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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#include <px4_platform_common/module.h>
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#include <px4_platform_common/module_params.h>
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#include <uORB/Publication.hpp>
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#include <uORB/topics/vehicle_command.h>
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#include <uORB/topics/vehicle_command_ack.h>
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namespace events
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{
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extern "C" __EXPORT int send_event_main(int argc, char *argv[]);
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/** @class SendEvent The SendEvent class manages the RC loss audible alarm, LED status display, and thermal calibration. */
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class SendEvent : public ModuleBase<SendEvent>, public ModuleParams, public px4::ScheduledWorkItem
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{
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public:
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SendEvent();
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~SendEvent();
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/**
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* @see ModuleBase
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* @brief Recognizes custom startup commands, called from the main() function entry.
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* @param argc The task argument count.
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* @param argc Pointer to the task argument variable array.
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* @return Returns 0 iff successful, otherwise < 0 on error.
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*/
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static int custom_command(int argc, char *argv[]);
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/**
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* @see ModuleBase
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* @brief Prints usage options to the console.
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* @param reason The requested usage reason for printing to console.
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* @return Returns 0 iff successful, -1 otherwise.
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*/
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static int print_usage(const char *reason = nullptr);
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/**
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* @brief Spawns and initializes the class in the same context as the
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* work queue and starts the background listener.
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* @param argc The input argument count.
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* @param argv Pointer to the input argument array.
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* @return Returns 0 iff successful, -1 otherwise.
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*/
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static int task_spawn(int argc, char *argv[]);
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private:
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/**
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* @brief Returns an ACK to a vehicle_command.
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* @param cmd The vehicle command struct being referenced.
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* @param result The command acknowledgement result.
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*/
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void answer_command(const vehicle_command_s &cmd, unsigned result);
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/**
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* @brief Calls process_commands() and schedules the next cycle.
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*/
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void Run() override;
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/**
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* @brief Checks for new commands and processes them.
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*/
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void process_commands();
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/**
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* @brief Starts background task listening for commands.
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* @return Returns 0 iff successful, otherwise < 0 on error.
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*/
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int start();
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uORB::Subscription _vehicle_command_sub{ORB_ID(vehicle_command)};
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/** @var _status_display Pointer to the status display object. */
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status::StatusDisplay *_status_display = nullptr;
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/** @var _rc_loss_alarm Pointer to the RC loss alarm object. */
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rc_loss::RC_Loss_Alarm *_rc_loss_alarm = nullptr;
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/** @note Declare local parameters using defined parameters. */
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DEFINE_PARAMETERS(
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/** @var _param_status_display Parameter to enable/disable the LED status display. */
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(ParamBool<px4::params::EV_TSK_STAT_DIS>) _param_ev_tsk_stat_dis,
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/** @var _param_rc_loss The RC comms loss status flag. */
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(ParamBool<px4::params::EV_TSK_RC_LOSS>) _param_ev_tsk_rc_loss
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)
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};
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} // namespace events
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