path: root/src/modules/att_pos_estimator_ekf/kalman_main.cpp

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/**
 * @file kalman_demo.cpp
 * Demonstration of control library
 */

#include <nuttx/config.h>
#include <unistd.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <systemlib/systemlib.h>
#include <systemlib/param/param.h>
#include <drivers/drv_hrt.h>
#include <math.h>
#include "KalmanNav.hpp"

static bool thread_should_exit = false;     /**< Deamon exit flag */
static bool thread_running = false;     /**< Deamon status flag */
static int deamon_task;             /**< Handle of deamon task / thread */

/**
 * Deamon management function.
 */
extern "C" __EXPORT int att_pos_estimator_ekf_main(int argc, char *argv[]);

/**
 * Mainloop of deamon.
 */
int kalman_demo_thread_main(int argc, char *argv[]);

/**
 * Print the correct usage.
 */
static void usage(const char *reason);

static void
usage(const char *reason)
{
	if (reason)
		fprintf(stderr, "%s\n", reason);

	fprintf(stderr, "usage: kalman_demo {start|stop|status} [-p <additional params>]\n\n");
	exit(1);
}

/**
 * The deamon app only briefly exists to start
 * the background job. The stack size assigned in the
 * Makefile does only apply to this management task.
 *
 * The actual stack size should be set in the call
 * to task_create().
 */
int att_pos_estimator_ekf_main(int argc, char *argv[])
{

	if (argc < 1)
		usage("missing command");

	if (!strcmp(argv[1], "start")) {

		if (thread_running) {
			printf("kalman_demo already running\n");
			/* this is not an error */
			exit(0);
		}

		thread_should_exit = false;
		deamon_task = task_spawn("kalman_demo",
					 SCHED_DEFAULT,
					 SCHED_PRIORITY_MAX - 5,
					 4096,
					 kalman_demo_thread_main,
					 (argv) ? (const char **)&argv[2] : (const char **)NULL);
		exit(0);
	}

	if (!strcmp(argv[1], "stop")) {
		thread_should_exit = true;
		exit(0);
	}

	if (!strcmp(argv[1], "status")) {
		if (thread_running) {
			printf("\tkalman_demo app is running\n");

		} else {
			printf("\tkalman_demo app not started\n");
		}

		exit(0);
	}

	usage("unrecognized command");
	exit(1);
}

int kalman_demo_thread_main(int argc, char *argv[])
{

	printf("[kalman_demo] starting\n");

	using namespace math;

	thread_running = true;

	KalmanNav nav(NULL, "KF");

	while (!thread_should_exit) {
		nav.update();
	}

	printf("[kalman_demo] exiting.\n");

	thread_running = false;

	return 0;
}