mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-04 07:50:35 +08:00
Alessandro Simovic
103 lines
3.4 KiB
C++
103 lines
3.4 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 "subscriber_handler.h"
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#include "status_display.h"
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#include "rc_loss_alarm.h"
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#include <px4_workqueue.h>
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#include <px4_module.h>
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#include <px4_module_params.h>
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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 : public ModuleBase<SendEvent>, public ModuleParams
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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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* Initialize class in the same context as the work queue. And start the background listener.
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* @return 0 if successful, <0 on error */
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static int task_spawn(int argc, char *argv[]);
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/** @see ModuleBase */
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static int custom_command(int argc, char *argv[]);
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/** @see ModuleBase */
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static int print_usage(const char *reason = nullptr);
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private:
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/** Start background listening for commands
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*
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* @return 0 if successful, <0 on error. */
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int start();
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/** Trampoline for initialisation. */
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static void initialize_trampoline(void *arg);
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/** Trampoline for the work queue. */
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static void cycle_trampoline(void *arg);
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/** call process_commands() and schedule the next cycle. */
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void cycle();
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/** check for new commands and process them. */
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void process_commands();
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/** return an ACK to a vehicle_command */
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void answer_command(const vehicle_command_s &cmd, unsigned result);
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static struct work_s _work;
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SubscriberHandler _subscriber_handler;
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status::StatusDisplay *_status_display = nullptr;
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rc_loss::RC_Loss_Alarm *_rc_loss_alarm = nullptr;
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orb_advert_t _command_ack_pub = nullptr;
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DEFINE_PARAMETERS(
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(ParamBool<px4::params::EV_TSK_STAT_DIS>) _param_status_display,
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(ParamBool<px4::params::EV_TSK_RC_LOSS>) _param_rc_loss
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)
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};
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} /* namespace events */
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