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*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
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* notice, this list of conditions and the following disclaimer in
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/**
* @file bottle_drop.cpp
*
* Bottle drop module for Outback Challenge 2014, Team Swiss Fang
*
* @author Dominik Juchli <juchlid@ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
*/
#include <nuttx/config.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <fcntl.h>
#include <errno.h>
#include <math.h>
#include <poll.h>
#include <time.h>
#include <sys/ioctl.h>
#include <drivers/device/device.h>
#include <drivers/drv_hrt.h>
#include <arch/board/board.h>
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_global_position.h>
#include <systemlib/param/param.h>
#include <systemlib/err.h>
#include <geo/geo.h>
#include <mathlib/mathlib.h>
#include <mavlink/mavlink_log.h>
/**
* bottle_drop app start / stop handling function
*
* @ingroup apps
*/
extern "C" __EXPORT int bottle_drop_main(int argc, char *argv[]);
class BottleDrop
{
public:
/**
* Constructor
*/
BottleDrop();
/**
* Destructor, also kills task.
*/
~BottleDrop();
/**
* Start the task.
*
* @return OK on success.
*/
int start();
/**
* Display status.
*/
void status();
private:
bool _task_should_exit; /**< if true, sensor task should exit */
int _main_task; /**< task handle for sensor task */
int _mavlink_fd;
};
namespace bottle_drop
{
BottleDrop *g_bottle_drop;
}
BottleDrop::BottleDrop() :
_task_should_exit(false),
_main_task(-1),
_mavlink_fd(-1)
{
}
BottleDrop::~BottleDrop()
{
if (_main_task != -1) {
/* task wakes up every 100ms or so at the longest */
_task_should_exit = true;
/* wait for a second for the task to quit at our request */
unsigned i = 0;
do {
/* wait 20ms */
usleep(20000);
/* if we have given up, kill it */
if (++i > 50) {
task_delete(_main_task);
break;
}
} while (_main_task != -1);
}
bottle_drop::g_bottle_drop = nullptr;
}
int BottleDrop::start()
{
}
void BottleDrop::status()
{
}
static void usage()
{
errx(1, "usage: bottle_drop {start|stop|status}");
}
int bottle_drop_main(int argc, char *argv[])
{
if (argc < 2) {
usage();
}
if (!strcmp(argv[1], "start")) {
if (bottle_drop::g_bottle_drop != nullptr) {
errx(1, "already running");
}
bottle_drop::g_bottle_drop = new BottleDrop;
if (bottle_drop::g_bottle_drop == nullptr) {
errx(1, "alloc failed");
}
if (OK != bottle_drop::g_bottle_drop->start()) {
delete bottle_drop::g_bottle_drop;
bottle_drop::g_bottle_drop = nullptr;
err(1, "start failed");
}
return 0;
}
if (bottle_drop::g_bottle_drop == nullptr)
errx(1, "not running");
if (!strcmp(argv[1], "stop")) {
delete bottle_drop::g_bottle_drop;
bottle_drop::g_bottle_drop = nullptr;
} else if (!strcmp(argv[1], "status")) {
bottle_drop::g_bottle_drop->status();
} else {
usage();
}
return 0;
}