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104 lines
3.1 KiB
C++
104 lines
3.1 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2020 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 <px4_platform_common/atomic.h>
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#include <px4_platform_common/posix.h>
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#include <systemlib/mavlink_log.h>
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#include <uORB/uORB.h>
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/**
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* @class WorkerThread
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* low priority background thread, started on demand, used for:
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* - calibration
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* - param saving
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*/
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class WorkerThread
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{
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public:
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enum class Request {
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GyroCalibration,
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MagCalibration,
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RCTrimCalibration,
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AccelCalibration,
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LevelCalibration,
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AccelCalibrationQuick,
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AirspeedCalibration,
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ESCCalibration,
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MagCalibrationQuick,
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BaroCalibration,
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ParamLoadDefault,
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ParamSaveDefault,
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ParamResetAll,
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ParamResetSensorFactory,
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ParamResetAllConfig
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};
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WorkerThread() = default;
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~WorkerThread();
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void setMagQuickData(float heading_rad, float lat, float lon);
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void startTask(Request request);
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bool isBusy() const { return _state.load() != (int)State::Idle; }
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bool hasResult() const { return _state.load() == (int)State::Finished; }
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int getResultAndReset() { _state.store((int)State::Idle); return _ret_value; }
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private:
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enum class State {
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Idle,
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Running,
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Finished
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};
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static void *threadEntryTrampoline(void *arg);
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void threadEntry();
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px4::atomic_int _state{(int)State::Idle};
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pthread_t _thread_handle{};
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int _ret_value{};
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Request _request;
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orb_advert_t _mavlink_log_pub{nullptr};
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// extra arguments
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float _heading_radians;
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float _latitude;
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float _longitude;
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};
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