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author | Lorenz Meier <lm@inf.ethz.ch> | 2012-10-23 13:15:36 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-10-23 13:15:36 +0200 |
commit | d7d373f4653876650d822576561e8f14e1eed000 (patch) | |
tree | 60d8fa8d97992daf90657ffb83f41a73a155b1e3 /apps/commander/commander.c | |
parent | a24e50b9310f84a9e1fb71b37c18d43f997426eb (diff) | |
download | px4-firmware-d7d373f4653876650d822576561e8f14e1eed000.tar.gz px4-firmware-d7d373f4653876650d822576561e8f14e1eed000.tar.bz2 px4-firmware-d7d373f4653876650d822576561e8f14e1eed000.zip |
System state updates
Diffstat (limited to 'apps/commander/commander.c')
-rw-r--r-- | apps/commander/commander.c | 51 |
1 files changed, 40 insertions, 11 deletions
diff --git a/apps/commander/commander.c b/apps/commander/commander.c index eb2720207..121b6d162 100644 --- a/apps/commander/commander.c +++ b/apps/commander/commander.c @@ -1,10 +1,10 @@ /**************************************************************************** * * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: @author Petri Tanskanen <petri.tanskanen@inf.ethz.ch> - * @author Lorenz Meier <lm@inf.ethz.ch> - * @author Thomas Gubler <thomasgubler@student.ethz.ch> - * @author Julian Oes <joes@student.ethz.ch> + * Author: Petri Tanskanen <petri.tanskanen@inf.ethz.ch> + * Lorenz Meier <lm@inf.ethz.ch> + * Thomas Gubler <thomasgubler@student.ethz.ch> + * Julian Oes <joes@student.ethz.ch> * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -38,6 +38,12 @@ /** * @file commander.c * Main system state machine implementation. + * + * @author Petri Tanskanen <petri.tanskanen@inf.ethz.ch> + * @author Lorenz Meier <lm@inf.ethz.ch> + * @author Thomas Gubler <thomasgubler@student.ethz.ch> + * @author Julian Oes <joes@student.ethz.ch> + * */ #include "commander.h" @@ -121,9 +127,9 @@ static orb_advert_t stat_pub; static unsigned int failsafe_lowlevel_timeout_ms; -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 */ +static bool thread_should_exit = false; /**< daemon exit flag */ +static bool thread_running = false; /**< daemon status flag */ +static int daemon_task; /**< Handle of daemon task / thread */ /* pthread loops */ static void *orb_receive_loop(void *arg); @@ -942,6 +948,8 @@ static void *orb_receive_loop(void *arg) //handles status information coming fr int subsys_sub = orb_subscribe(ORB_ID(subsystem_info)); struct subsystem_info_s info; + struct vehicle_status_s *vstatus = (struct vehicle_status_s*)arg; + while (!thread_should_exit) { struct pollfd fds[1] = { { .fd = subsys_sub, .events = POLLIN } }; @@ -952,6 +960,27 @@ static void *orb_receive_loop(void *arg) //handles status information coming fr orb_copy(ORB_ID(subsystem_info), subsys_sub, &info); printf("Subsys changed: %d\n", (int)info.subsystem_type); + + /* mark / unmark as present */ + if (info.present) { + vstatus->onboard_control_sensors_present |= info.subsystem_type; + } else { + vstatus->onboard_control_sensors_present &= ~info.subsystem_type; + } + + /* mark / unmark as enabled */ + if (info.enabled) { + vstatus->onboard_control_sensors_enabled |= info.subsystem_type; + } else { + vstatus->onboard_control_sensors_enabled &= ~info.subsystem_type; + } + + /* mark / unmark as ok */ + if (info.ok) { + vstatus->onboard_control_sensors_health |= info.subsystem_type; + } else { + vstatus->onboard_control_sensors_health &= ~info.subsystem_type; + } } } @@ -1014,12 +1043,12 @@ usage(const char *reason) { if (reason) fprintf(stderr, "%s\n", reason); - fprintf(stderr, "usage: deamon {start|stop|status} [-p <additional params>]\n\n"); + fprintf(stderr, "usage: daemon {start|stop|status} [-p <additional params>]\n\n"); exit(1); } /** - * The deamon app only briefly exists to start + * The daemon app only briefly exists to start * the background job. The stack size assigned in the * Makefile does only apply to this management task. * @@ -1040,7 +1069,7 @@ int commander_main(int argc, char *argv[]) } thread_should_exit = false; - deamon_task = task_spawn("commander", + daemon_task = task_spawn("commander", SCHED_DEFAULT, SCHED_PRIORITY_MAX - 50, 8000, @@ -1126,7 +1155,7 @@ int commander_thread_main(int argc, char *argv[]) pthread_attr_t subsystem_info_attr; pthread_attr_init(&subsystem_info_attr); pthread_attr_setstacksize(&subsystem_info_attr, 2048); - pthread_create(&subsystem_info_thread, &subsystem_info_attr, orb_receive_loop, NULL); + pthread_create(&subsystem_info_thread, &subsystem_info_attr, orb_receive_loop, ¤t_status); /* Start monitoring loop */ uint16_t counter = 0; |