diff options
Diffstat (limited to 'src/modules/navigator/navigator_main.cpp')
| -rw-r--r-- | src/modules/navigator/navigator_main.cpp | 683 |
1 files changed, 306 insertions, 377 deletions
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index f6c44444a..1a5ba4c1a 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -1,7 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2013 PX4 Development Team. All rights reserved. - * Author: Lorenz Meier + * Copyright (c) 2013, 2014 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 @@ -32,13 +31,19 @@ * ****************************************************************************/ /** - * @file navigator_main.c - * Implementation of the main navigation state machine. + * @file navigator_main.cpp * - * Handles missions, geo fencing and failsafe navigation behavior. + * Handles mission items, geo fencing and failsafe navigation behavior. + * Published the position setpoint triplet for the position controller. + * + * @author Lorenz Meier <lm@inf.ethz.ch> + * @author Jean Cyr <jean.m.cyr@gmail.com> + * @author Julian Oes <julian@oes.ch> + * @author Anton Babushkin <anton.babushkin@me.com> */ #include <nuttx/config.h> + #include <stdio.h> #include <stdlib.h> #include <string.h> @@ -48,26 +53,30 @@ #include <math.h> #include <poll.h> #include <time.h> +#include <sys/ioctl.h> +#include <sys/types.h> +#include <sys/stat.h> + +#include <drivers/device/device.h> #include <drivers/drv_hrt.h> #include <arch/board/board.h> + #include <uORB/uORB.h> -#include <uORB/topics/airspeed.h> -#include <uORB/topics/vehicle_global_position.h> -#include <uORB/topics/vehicle_global_position_set_triplet.h> -#include <uORB/topics/vehicle_attitude_setpoint.h> -#include <uORB/topics/manual_control_setpoint.h> -#include <uORB/topics/actuator_controls.h> -#include <uORB/topics/vehicle_rates_setpoint.h> -#include <uORB/topics/vehicle_attitude.h> +#include <uORB/topics/home_position.h> #include <uORB/topics/vehicle_status.h> -#include <uORB/topics/parameter_update.h> #include <uORB/topics/mission.h> -#include <systemlib/param/param.h> +#include <uORB/topics/fence.h> +#include <uORB/topics/navigation_capabilities.h> +#include <uORB/topics/offboard_control_setpoint.h> + #include <systemlib/err.h> -#include <geo/geo.h> -#include <systemlib/perf_counter.h> #include <systemlib/systemlib.h> +#include <geo/geo.h> +#include <dataman/dataman.h> #include <mathlib/mathlib.h> +#include <mavlink/mavlink_log.h> + +#include "navigator.h" /** * navigator app start / stop handling function @@ -76,169 +85,55 @@ */ extern "C" __EXPORT int navigator_main(int argc, char *argv[]); -class Navigator -{ -public: - /** - * Constructor - */ - Navigator(); - - /** - * Destructor, also kills the sensors task. - */ - ~Navigator(); - - /** - * Start the sensors task. - * - * @return OK on success. - */ - int start(); - -private: - - bool _task_should_exit; /**< if true, sensor task should exit */ - int _navigator_task; /**< task handle for sensor task */ - - int _global_pos_sub; - int _att_sub; /**< vehicle attitude subscription */ - int _attitude_sub; /**< raw rc channels data subscription */ - int _airspeed_sub; /**< airspeed subscription */ - int _vstatus_sub; /**< vehicle status subscription */ - int _params_sub; /**< notification of parameter updates */ - int _manual_control_sub; /**< notification of manual control updates */ - int _mission_sub; - - orb_advert_t _triplet_pub; /**< position setpoint */ - - struct vehicle_attitude_s _att; /**< vehicle attitude */ - struct vehicle_attitude_setpoint_s _att_sp; /**< vehicle attitude setpoint */ - struct manual_control_setpoint_s _manual; /**< r/c channel data */ - struct airspeed_s _airspeed; /**< airspeed */ - struct vehicle_status_s _vstatus; /**< vehicle status */ - struct vehicle_global_position_s _global_pos; /**< global vehicle position */ - struct vehicle_global_position_set_triplet_s _global_triplet; /**< triplet of global setpoints */ - - perf_counter_t _loop_perf; /**< loop performance counter */ - - unsigned _mission_items_maxcount; /**< maximum number of mission items supported */ - struct mission_item_s * _mission_items; /**< storage for mission items */ - bool _mission_valid; /**< flag if mission is valid */ - - /** manual control states */ - float _seatbelt_hold_heading; /**< heading the system should hold in seatbelt mode */ - float _loiter_hold_lat; - float _loiter_hold_lon; - float _loiter_hold_alt; - bool _loiter_hold; - - struct { - float throttle_cruise; - } _parameters; /**< local copies of interesting parameters */ - - struct { - param_t throttle_cruise; - - } _parameter_handles; /**< handles for interesting parameters */ - - - /** - * Update our local parameter cache. - */ - int parameters_update(); - - /** - * Update control outputs - * - */ - void control_update(); - - /** - * Check for changes in vehicle status. - */ - void vehicle_status_poll(); - - /** - * Check for position updates. - */ - void vehicle_attitude_poll(); - - /** - * Check for set triplet updates. - */ - void mission_poll(); - - /** - * Control throttle. - */ - float control_throttle(float energy_error); - - /** - * Control pitch. - */ - float control_pitch(float altitude_error); - - void calculate_airspeed_errors(); - void calculate_gndspeed_undershoot(); - void calculate_altitude_error(); - - /** - * Shim for calling task_main from task_create. - */ - static void task_main_trampoline(int argc, char *argv[]); - - /** - * Main sensor collection task. - */ - void task_main() __attribute__((noreturn)); -}; namespace navigator { -/* oddly, ERROR is not defined for c++ */ -#ifdef ERROR -# undef ERROR -#endif -static const int ERROR = -1; - Navigator *g_navigator; } Navigator::Navigator() : - + SuperBlock(NULL, "NAV"), _task_should_exit(false), _navigator_task(-1), - -/* subscriptions */ + _mavlink_fd(-1), _global_pos_sub(-1), - _att_sub(-1), - _airspeed_sub(-1), + _home_pos_sub(-1), _vstatus_sub(-1), - _params_sub(-1), - _manual_control_sub(-1), - -/* publications */ - _triplet_pub(-1), - -/* performance counters */ + _capabilities_sub(-1), + _offboard_control_sp_sub(-1), + _control_mode_sub(-1), + _onboard_mission_sub(-1), + _offboard_mission_sub(-1), + _pos_sp_triplet_pub(-1), + _vstatus({}), + _control_mode({}), + _global_pos({}), + _home_pos({}), + _mission_item({}), + _nav_caps({}), + _pos_sp_triplet({}), + _mission_item_valid(false), _loop_perf(perf_alloc(PC_ELAPSED, "navigator")), -/* states */ - _mission_items_maxcount(20), - _mission_valid(false), - _loiter_hold(false) + _geofence({}), + _geofence_violation_warning_sent(false), + _fence_valid(false), + _inside_fence(true), + _navigation_mode(nullptr), + _mission(this, "MIS"), + _loiter(this, "LOI"), + _rtl(this, "RTL"), + _offboard(this, "OFF"), + _param_loiter_radius(this, "LOITER_RAD"), + _param_acceptance_radius(this, "ACC_RAD") { - _mission_items = (mission_item_s*)malloc(sizeof(mission_item_s) * _mission_items_maxcount); - if (!_mission_items) { - _mission_items_maxcount = 0; - warnx("no free RAM to allocate mission, rejecting any waypoints"); - } - - _parameter_handles.throttle_cruise = param_find("NAV_DUMMY"); + /* Create a list of our possible navigation types */ + _navigation_mode_array[0] = &_mission; + _navigation_mode_array[1] = &_loiter; + _navigation_mode_array[2] = &_rtl; + _navigation_mode_array[3] = &_offboard; - /* fetch initial parameter values */ - parameters_update(); + updateParams(); } Navigator::~Navigator() @@ -266,70 +161,48 @@ Navigator::~Navigator() navigator::g_navigator = nullptr; } -int -Navigator::parameters_update() +void +Navigator::global_position_update() { - - //param_get(_parameter_handles.throttle_cruise, &(_parameters.throttle_cruise)); - - return OK; + orb_copy(ORB_ID(vehicle_global_position), _global_pos_sub, &_global_pos); } void -Navigator::vehicle_status_poll() +Navigator::home_position_update() { - bool vstatus_updated; - - /* Check HIL state if vehicle status has changed */ - orb_check(_vstatus_sub, &vstatus_updated); + orb_copy(ORB_ID(home_position), _home_pos_sub, &_home_pos); +} - if (vstatus_updated) { +void +Navigator::navigation_capabilities_update() +{ + orb_copy(ORB_ID(navigation_capabilities), _capabilities_sub, &_nav_caps); +} - orb_copy(ORB_ID(vehicle_status), _vstatus_sub, &_vstatus); +void +Navigator::vehicle_status_update() +{ + if (orb_copy(ORB_ID(vehicle_status), _vstatus_sub, &_vstatus) != OK) { + /* in case the commander is not be running */ + _vstatus.arming_state = ARMING_STATE_STANDBY; } } void -Navigator::vehicle_attitude_poll() +Navigator::vehicle_control_mode_update() { - /* check if there is a new position */ - bool att_updated; - orb_check(_att_sub, &att_updated); - - if (att_updated) { - orb_copy(ORB_ID(vehicle_attitude), _att_sub, &_att); + if (orb_copy(ORB_ID(vehicle_control_mode), _control_mode_sub, &_control_mode) != OK) { + /* in case the commander is not be running */ + _control_mode.flag_control_auto_enabled = false; + _control_mode.flag_armed = false; } } void -Navigator::mission_poll() +Navigator::params_update() { - /* check if there is a new setpoint */ - bool mission_updated; - orb_check(_mission_sub, &mission_updated); - - if (mission_updated) { - - struct mission_s mission; - orb_copy(ORB_ID(mission), _mission_sub, &mission); - - // XXX this is not optimal yet, but a first prototype / - // test implementation - - if (mission.count <= _mission_items_maxcount) { - /* - * Perform an atomic copy & state update - */ - irqstate_t flags = irqsave(); - - memcpy(_mission_items, mission.items, mission.count * sizeof(struct mission_item_s)); - _mission_valid = true; - - irqrestore(flags); - } else { - warnx("mission larger than storage space"); - } - } + parameter_update_s param_update; + orb_copy(ORB_ID(parameter_update), _param_update_sub, ¶m_update); } void @@ -341,196 +214,190 @@ Navigator::task_main_trampoline(int argc, char *argv[]) void Navigator::task_main() { - /* inform about start */ warnx("Initializing.."); - fflush(stdout); - /* - * do subscriptions - */ + _mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); + + /* Try to load the geofence: + * if /fs/microsd/etc/geofence.txt load from this file + * else clear geofence data in datamanager */ + struct stat buffer; + + if (stat(GEOFENCE_FILENAME, &buffer) == 0) { + warnx("Try to load geofence.txt"); + _geofence.loadFromFile(GEOFENCE_FILENAME); + + } else { + if (_geofence.clearDm() > 0) + warnx("Geofence cleared"); + else + warnx("Could not clear geofence"); + } + + /* do subscriptions */ _global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position)); - _mission_sub = orb_subscribe(ORB_ID(mission)); - _att_sub = orb_subscribe(ORB_ID(vehicle_attitude)); - _airspeed_sub = orb_subscribe(ORB_ID(airspeed)); + _capabilities_sub = orb_subscribe(ORB_ID(navigation_capabilities)); _vstatus_sub = orb_subscribe(ORB_ID(vehicle_status)); - _params_sub = orb_subscribe(ORB_ID(parameter_update)); - _manual_control_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); + _control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode)); + _home_pos_sub = orb_subscribe(ORB_ID(home_position)); + _onboard_mission_sub = orb_subscribe(ORB_ID(onboard_mission)); + _offboard_mission_sub = orb_subscribe(ORB_ID(offboard_mission)); + _param_update_sub = orb_subscribe(ORB_ID(parameter_update)); + _offboard_control_sp_sub = orb_subscribe(ORB_ID(offboard_control_setpoint)); + + /* copy all topics first time */ + vehicle_status_update(); + vehicle_control_mode_update(); + global_position_update(); + home_position_update(); + navigation_capabilities_update(); + params_update(); - /* rate limit vehicle status updates to 5Hz */ - orb_set_interval(_vstatus_sub, 200); /* rate limit position updates to 50 Hz */ orb_set_interval(_global_pos_sub, 20); - parameters_update(); + hrt_abstime mavlink_open_time = 0; + const hrt_abstime mavlink_open_interval = 500000; /* wakeup source(s) */ - struct pollfd fds[2]; + struct pollfd fds[6]; /* Setup of loop */ - fds[0].fd = _params_sub; + fds[0].fd = _global_pos_sub; fds[0].events = POLLIN; - fds[1].fd = _global_pos_sub; + fds[1].fd = _home_pos_sub; fds[1].events = POLLIN; + fds[2].fd = _capabilities_sub; + fds[2].events = POLLIN; + fds[3].fd = _vstatus_sub; + fds[3].events = POLLIN; + fds[4].fd = _control_mode_sub; + fds[4].events = POLLIN; + fds[5].fd = _param_update_sub; + fds[5].events = POLLIN; while (!_task_should_exit) { - /* wait for up to 500ms for data */ + /* wait for up to 100ms for data */ int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100); - /* timed out - periodic check for _task_should_exit, etc. */ - if (pret == 0) + if (pret == 0) { + /* timed out - periodic check for _task_should_exit, etc. */ continue; - /* this is undesirable but not much we can do - might want to flag unhappy status */ - if (pret < 0) { + } else if (pret < 0) { + /* this is undesirable but not much we can do - might want to flag unhappy status */ warn("poll error %d, %d", pret, errno); continue; } perf_begin(_loop_perf); - /* check vehicle status for changes to publication state */ - vehicle_status_poll(); - - /* only update parameters if they changed */ - if (fds[0].revents & POLLIN) { - /* read from param to clear updated flag */ - struct parameter_update_s update; - orb_copy(ORB_ID(parameter_update), _params_sub, &update); - - /* update parameters from storage */ - parameters_update(); + if (_mavlink_fd < 0 && hrt_absolute_time() > mavlink_open_time) { + /* try to reopen the mavlink log device with specified interval */ + mavlink_open_time = hrt_abstime() + mavlink_open_interval; + _mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); } - /* only run controller if position changed */ - if (fds[1].revents & POLLIN) { - - - static uint64_t last_run = 0; - float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f; - last_run = hrt_absolute_time(); - - /* guard against too large deltaT's */ - if (deltaT > 1.0f) - deltaT = 0.01f; - - /* load local copies */ - orb_copy(ORB_ID(vehicle_global_position), _global_pos_sub, &_global_pos); - - vehicle_attitude_poll(); - - mission_poll(); - - math::Vector2f ground_speed(_global_pos.vx, _global_pos.vy); - // Current waypoint - math::Vector2f next_wp(_global_triplet.current.lat / 1e7f, _global_triplet.current.lon / 1e7f); - // Global position - math::Vector2f current_position(_global_pos.lat / 1e7f, _global_pos.lon / 1e7f); - - /* AUTONOMOUS FLIGHT */ - - if (1 /* autonomous flight */) { - - /* execute navigation once we have a setpoint */ - if (_mission_valid) { - - // Next waypoint - math::Vector2f prev_wp; - - if (_global_triplet.previous_valid) { - prev_wp.setX(_global_triplet.previous.lat / 1e7f); - prev_wp.setY(_global_triplet.previous.lon / 1e7f); - - } else { - /* - * No valid next waypoint, go for heading hold. - * This is automatically handled by the L1 library. - */ - prev_wp.setX(_global_triplet.current.lat / 1e7f); - prev_wp.setY(_global_triplet.current.lon / 1e7f); - - } - - - - /******** MAIN NAVIGATION STATE MACHINE ********/ - - // XXX to be put in its own class + /* parameters updated */ + if (fds[5].revents & POLLIN) { + params_update(); + updateParams(); + } - if (_global_triplet.current.nav_cmd == NAV_CMD_WAYPOINT) { - /* waypoint is a plain navigation waypoint */ - + /* vehicle control mode updated */ + if (fds[4].revents & POLLIN) { + vehicle_control_mode_update(); + } - } else if (_global_triplet.current.nav_cmd == NAV_CMD_LOITER_TURN_COUNT || - _global_triplet.current.nav_cmd == NAV_CMD_LOITER_TIME_LIMIT || - _global_triplet.current.nav_cmd == NAV_CMD_LOITER_UNLIMITED) { + /* vehicle status updated */ + if (fds[3].revents & POLLIN) { + vehicle_status_update(); + } - /* waypoint is a loiter waypoint */ - - } + /* navigation capabilities updated */ + if (fds[2].revents & POLLIN) { + navigation_capabilities_update(); + } - // XXX at this point we always want no loiter hold if a - // mission is active - _loiter_hold = false; + /* home position updated */ + if (fds[1].revents & POLLIN) { + home_position_update(); + } - } else { + /* global position updated */ + if (fds[0].revents & POLLIN) { + global_position_update(); - if (!_loiter_hold) { - _loiter_hold_lat = _global_pos.lat / 1e7f; - _loiter_hold_lon = _global_pos.lon / 1e7f; - _loiter_hold_alt = _global_pos.alt; - _loiter_hold = true; - } + /* Check geofence violation */ + if (!_geofence.inside(&_global_pos)) { - //_parameters.loiter_hold_radius + /* Issue a warning about the geofence violation once */ + if (!_geofence_violation_warning_sent) { + mavlink_log_critical(_mavlink_fd, "#audio: Geofence violation"); + _geofence_violation_warning_sent = true; } - - } else if (0/* seatbelt mode enabled */) { - - /** SEATBELT FLIGHT **/ - continue; - } else { - - /** MANUAL FLIGHT **/ - - /* no flight mode applies, do not publish an attitude setpoint */ - continue; + /* Reset the _geofence_violation_warning_sent field */ + _geofence_violation_warning_sent = false; } + } - /******** MAIN NAVIGATION STATE MACHINE ********/ - - if (_global_triplet.current.nav_cmd == NAV_CMD_RETURN_TO_LAUNCH) { - // XXX define launch position and return - - } else if (_global_triplet.current.nav_cmd == NAV_CMD_LAND) { - // XXX flared descent on final approach - - } else if (_global_triplet.current.nav_cmd == NAV_CMD_TAKEOFF) { - - /* apply minimum pitch if altitude has not yet been reached */ - if (_global_pos.alt < _global_triplet.current.altitude) { - _att_sp.pitch_body = math::max(_att_sp.pitch_body, _global_triplet.current.param1); - } - } + /* Do stuff according to navigation state set by commander */ + switch (_vstatus.nav_state) { + case NAVIGATION_STATE_MANUAL: + case NAVIGATION_STATE_ACRO: + case NAVIGATION_STATE_ALTCTL: + case NAVIGATION_STATE_POSCTL: + _navigation_mode = nullptr; + _can_loiter_at_sp = false; + break; + case NAVIGATION_STATE_AUTO_MISSION: + _navigation_mode = &_mission; + break; + case NAVIGATION_STATE_AUTO_LOITER: + _navigation_mode = &_loiter; + break; + case NAVIGATION_STATE_AUTO_RTL: + _navigation_mode = &_rtl; + break; + case NAVIGATION_STATE_AUTO_RTGS: + _navigation_mode = &_rtl; /* TODO: change this to something else */ + break; + case NAVIGATION_STATE_LAND: + case NAVIGATION_STATE_TERMINATION: + case NAVIGATION_STATE_OFFBOARD: + _navigation_mode = &_offboard; + break; + default: + _navigation_mode = nullptr; + _can_loiter_at_sp = false; + break; + } - /* lazily publish the setpoint only once available */ - if (_triplet_pub > 0) { - /* publish the attitude setpoint */ - orb_publish(ORB_ID(vehicle_global_position_set_triplet), _triplet_pub, &_global_triplet); + /* iterate through navigation modes and set active/inactive for each */ + for(unsigned int i = 0; i < NAVIGATOR_MODE_ARRAY_SIZE; i++) { + _navigation_mode_array[i]->run(_navigation_mode == _navigation_mode_array[i]); + } - } else { - /* advertise and publish */ - _triplet_pub = orb_advertise(ORB_ID(vehicle_global_position_set_triplet), &_global_triplet); - } + /* if nothing is running, set position setpoint triplet invalid */ + if (_navigation_mode == nullptr) { + // TODO publish empty sp only once + _pos_sp_triplet.previous.valid = false; + _pos_sp_triplet.current.valid = false; + _pos_sp_triplet.next.valid = false; + _pos_sp_triplet_updated = true; + } + if (_pos_sp_triplet_updated) { + publish_position_setpoint_triplet(); + _pos_sp_triplet_updated = false; } perf_end(_loop_perf); } - - warnx("exiting.\n"); + warnx("exiting."); _navigator_task = -1; _exit(0); @@ -543,11 +410,11 @@ Navigator::start() /* start the task */ _navigator_task = task_spawn_cmd("navigator", - SCHED_DEFAULT, - SCHED_PRIORITY_MAX - 5, - 2048, - (main_t)&Navigator::task_main_trampoline, - nullptr); + SCHED_DEFAULT, + SCHED_PRIORITY_MAX - 5, + 2000, + (main_t)&Navigator::task_main_trampoline, + nullptr); if (_navigator_task < 0) { warn("task start failed"); @@ -557,20 +424,81 @@ Navigator::start() return OK; } +void +Navigator::status() +{ + /* TODO: add this again */ + // warnx("Global position is %svalid", _global_pos_valid ? "" : "in"); + + // if (_global_pos.global_valid) { + // warnx("Longitude %5.5f degrees, latitude %5.5f degrees", _global_pos.lon, _global_pos.lat); + // warnx("Altitude %5.5f meters, altitude above home %5.5f meters", + // (double)_global_pos.alt, (double)(_global_pos.alt - _home_pos.alt)); + // warnx("Ground velocity in m/s, N %5.5f, E %5.5f, D %5.5f", + // (double)_global_pos.vel_n, (double)_global_pos.vel_e, (double)_global_pos.vel_d); + // warnx("Compass heading in degrees %5.5f", (double)(_global_pos.yaw * M_RAD_TO_DEG_F)); + // } + + if (_fence_valid) { + warnx("Geofence is valid"); + /* TODO: needed? */ +// warnx("Vertex longitude latitude"); +// for (unsigned i = 0; i < _fence.count; i++) +// warnx("%6u %9.5f %8.5f", i, (double)_fence.vertices[i].lon, (double)_fence.vertices[i].lat); + + } else { + warnx("Geofence not set"); + } +} + +void +Navigator::publish_position_setpoint_triplet() +{ + /* update navigation state */ + /* TODO: set nav_state */ + + /* lazily publish the position setpoint triplet only once available */ + if (_pos_sp_triplet_pub > 0) { + orb_publish(ORB_ID(position_setpoint_triplet), _pos_sp_triplet_pub, &_pos_sp_triplet); + + } else { + _pos_sp_triplet_pub = orb_advertise(ORB_ID(position_setpoint_triplet), &_pos_sp_triplet); + } +} + +void Navigator::add_fence_point(int argc, char *argv[]) +{ + _geofence.addPoint(argc, argv); +} + +void Navigator::load_fence_from_file(const char *filename) +{ + _geofence.loadFromFile(filename); +} + + +static void usage() +{ + errx(1, "usage: navigator {start|stop|status|fence|fencefile}"); +} + int navigator_main(int argc, char *argv[]) { - if (argc < 1) - errx(1, "usage: navigator {start|stop|status}"); + if (argc < 2) { + usage(); + } if (!strcmp(argv[1], "start")) { - if (navigator::g_navigator != nullptr) + if (navigator::g_navigator != nullptr) { errx(1, "already running"); + } navigator::g_navigator = new Navigator; - if (navigator::g_navigator == nullptr) + if (navigator::g_navigator == nullptr) { errx(1, "alloc failed"); + } if (OK != navigator::g_navigator->start()) { delete navigator::g_navigator; @@ -578,27 +506,28 @@ int navigator_main(int argc, char *argv[]) err(1, "start failed"); } - exit(0); + return 0; } - if (!strcmp(argv[1], "stop")) { - if (navigator::g_navigator == nullptr) - errx(1, "not running"); + if (navigator::g_navigator == nullptr) + errx(1, "not running"); + if (!strcmp(argv[1], "stop")) { delete navigator::g_navigator; navigator::g_navigator = nullptr; - exit(0); - } - if (!strcmp(argv[1], "status")) { - if (navigator::g_navigator) { - errx(0, "running"); + } else if (!strcmp(argv[1], "status")) { + navigator::g_navigator->status(); - } else { - errx(1, "not running"); - } + } else if (!strcmp(argv[1], "fence")) { + navigator::g_navigator->add_fence_point(argc - 2, argv + 2); + + } else if (!strcmp(argv[1], "fencefile")) { + navigator::g_navigator->load_fence_from_file(GEOFENCE_FILENAME); + + } else { + usage(); } - warnx("unrecognized command"); - return 1; + return 0; } |