Added Bottle Drop app

2 files changed, 228 insertions, 0 deletions

diff --git a/src/modules/bottle_drop/bottle_drop.c b/src/modules/bottle_drop/bottle_drop.c
new file mode 100644
index 000000000..69720b439
--- /dev/null
+++ b/src/modules/bottle_drop/bottle_drop.c
@@ -0,0 +1,188 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012, 2013 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file px4_daemon_app.c
+ * daemon application example for PX4 autopilot
+ * 
+ * @author Example User <mail@example.com>
+ */
+
+#include <nuttx/config.h>
+#include <nuttx/sched.h>
+#include <unistd.h>
+#include <stdio.h>
+
+#include <systemlib/systemlib.h>
+#include <systemlib/err.h>
+#include <uORB/uORB.h>
+#include <uORB/topics/actuator_controls.h>
+
+#include <drivers/drv_rgbled.h>
+
+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 */
+
+static bool drop = false;
+
+/**
+ * daemon management function.
+ */
+__EXPORT int bottle_drop_main(int argc, char *argv[]);
+
+/**
+ * Mainloop of daemon.
+ */
+int bottle_drop_thread_main(int argc, char *argv[]);
+
+/**
+ * Print the correct usage.
+ */
+static void usage(const char *reason);
+
+static void
+usage(const char *reason)
+{
+	if (reason)
+		warnx("%s\n", reason);
+	errx(1, "usage: daemon {start|stop|status} [-p <additional params>]\n\n");
+}
+
+/**
+ * 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.
+ * 
+ * The actual stack size should be set in the call
+ * to task_create().
+ */
+int bottle_drop_main(int argc, char *argv[])
+{
+	if (argc < 1)
+		usage("missing command");
+
+	if (!strcmp(argv[1], "start")) {
+
+		if (thread_running) {
+			warnx("daemon already running\n");
+			/* this is not an error */
+			exit(0);
+		}
+
+		thread_should_exit = false;
+		daemon_task = task_spawn_cmd("daemon",
+					 SCHED_DEFAULT,
+					 SCHED_PRIORITY_DEFAULT,
+					 4096,
+					 bottle_drop_thread_main,
+					 (argv) ? (const char **)&argv[2] : (const char **)NULL);
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "drop")) {
+		drop = true;
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "stop")) {
+		thread_should_exit = true;
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "status")) {
+		if (thread_running) {
+			warnx("\trunning\n");
+		} else {
+			warnx("\tnot started\n");
+		}
+		exit(0);
+	}
+
+	usage("unrecognized command");
+	exit(1);
+}
+
+int bottle_drop_thread_main(int argc, char *argv[]) {
+
+	warnx("starting\n");
+
+	unsigned i = 0;
+
+	thread_running = true;
+
+	int rgbleds = open(RGBLED_DEVICE_PATH, 0);
+
+	struct actuator_controls_s actuators;
+	memset(&actuators, 0, sizeof(actuators));
+
+	orb_advert_t actuator_pub = orb_advertise(ORB_ID(actuator_controls_1), &actuators);
+
+	while (!thread_should_exit) {
+
+//		warnx("in while!\n");
+		// values from -1 to 1
+
+		if (drop) {
+			// drop here
+			drop = false;
+
+			ioctl(rgbleds, RGBLED_SET_MODE, RGBLED_MODE_ON);
+			ioctl(rgbleds, RGBLED_SET_COLOR, RGBLED_COLOR_RED);
+		}
+
+
+		actuators.control[0] = 0.5f;
+		actuators.control[1] = 0.5f;
+		actuators.control[2] = 0.5f;
+		actuators.control[3] = 0.5f;
+
+
+
+		actuators.timestamp = hrt_absolute_time();
+		orb_publish(ORB_ID(actuator_controls_1), actuator_pub, &actuators);
+
+		usleep(50);
+
+		i++;
+	}
+
+	warnx("exiting.\n");
+
+	thread_running = false;
+
+	ioctl(rgbleds, RGBLED_SET_MODE, RGBLED_MODE_OFF);
+	close(rgbleds);
+
+	return 0;
+}
diff --git a/src/modules/bottle_drop/module.mk b/src/modules/bottle_drop/module.mk
new file mode 100644
index 000000000..222858b27
--- /dev/null
+++ b/src/modules/bottle_drop/module.mk
@@ -0,0 +1,40 @@
+############################################################################
+#
+#   Copyright (c) 2012, 2013 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.
+#
+############################################################################
+
+#
+# Daemon application
+#
+
+MODULE_COMMAND		= bottle_drop
+
+SRCS			= bottle_drop.c