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author | Lorenz Meier <lm@inf.ethz.ch> | 2012-08-19 11:29:07 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-08-19 11:29:07 +0200 |
commit | 85bc4f683a4a88cc19a35e1147d19ac5b1106019 (patch) | |
tree | e8a7faaf7bdc4df0c307e2880f100f2751b1a5c4 /apps/examples | |
parent | 2a5fcd917428fa6e549214f8066690672b453af0 (diff) | |
download | px4-firmware-85bc4f683a4a88cc19a35e1147d19ac5b1106019.tar.gz px4-firmware-85bc4f683a4a88cc19a35e1147d19ac5b1106019.tar.bz2 px4-firmware-85bc4f683a4a88cc19a35e1147d19ac5b1106019.zip |
Cleaned up position control (WIP), moved PID structs (should become classes) to systemlib, added deamon app example
Diffstat (limited to 'apps/examples')
-rw-r--r-- | apps/examples/px4_deamon_app/Makefile | 42 | ||||
-rw-r--r-- | apps/examples/px4_deamon_app/px4_deamon_app.c | 130 |
2 files changed, 172 insertions, 0 deletions
diff --git a/apps/examples/px4_deamon_app/Makefile b/apps/examples/px4_deamon_app/Makefile new file mode 100644 index 000000000..e4c169872 --- /dev/null +++ b/apps/examples/px4_deamon_app/Makefile @@ -0,0 +1,42 @@ +############################################################################ +# +# Copyright (C) 2012 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 +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +# +# Basic example application +# + +APPNAME = px4_deamon_app +PRIORITY = SCHED_PRIORITY_DEFAULT +STACKSIZE = 2048 + +include $(APPDIR)/mk/app.mk diff --git a/apps/examples/px4_deamon_app/px4_deamon_app.c b/apps/examples/px4_deamon_app/px4_deamon_app.c new file mode 100644 index 000000000..e17bf478a --- /dev/null +++ b/apps/examples/px4_deamon_app/px4_deamon_app.c @@ -0,0 +1,130 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: @author Example User <mail@example.com> + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file px4_deamon_app.c + * Deamon application example for PX4 autopilot + */ + +#include <nuttx/config.h> +#include <unistd.h> +#include <stdio.h> + +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. + */ +__EXPORT int px4_deamon_app_main(int argc, char *argv[]); + +/** + * Mainloop of deamon. + */ +int mavlink_thread_main(int argc, char *argv[]); + +/** + * Print the correct usage. + */ +static void usage(const char *reason); + +int mavlink_thread_main(int argc, char *argv[]) { + + printf("[deamon] starting\n"); + + while (true) { + printf("Hello Deamon!\n"); + sleep(1); + if (thread_should_exit) break; + } + + printf("[deamon] exiting.\n"); + + return 0; +} + +static void +usage(const char *reason) +{ + if (reason) + fprintf(stderr, "%s\n", reason); + fprintf(stderr, "usage: deamon {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 px4_deamon_app_main(int argc, char *argv[]) +{ + if (argc < 1) + usage("missing command"); + + if (!strcmp(argv[1], "start")) { + + if (thread_running) { + printf("deamon already running\n"); + /* this is not an error */ + exit(0); + } + + thread_should_exit = false; + mavlink_task = task_create("deamon", SCHED_PRIORITY_DEFAULT, 4096, deamon_thread_main, (argv) ? (const char **)&argv[2] : (const char **)NULL); + thread_running = true; + exit(0); + } + + if (!strcmp(argv[1], "stop")) { + thread_should_exit = true; + exit(0); + } + + if (!strcmp(argv[1], "status")) { + if (thread_running) { + printf("\tdeamon app is running\n"); + } else { + printf("\tdeamon app not started\n"); + } + exit(0); + } + + usage("unrecognized command"); + exit(1); +} |