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Diffstat (limited to 'apps/examples/control_demo/control_demo.cpp')
-rw-r--r-- | apps/examples/control_demo/control_demo.cpp | 168 |
1 files changed, 168 insertions, 0 deletions
diff --git a/apps/examples/control_demo/control_demo.cpp b/apps/examples/control_demo/control_demo.cpp new file mode 100644 index 000000000..c60c5e8b9 --- /dev/null +++ b/apps/examples/control_demo/control_demo.cpp @@ -0,0 +1,168 @@ +/**************************************************************************** + * + * 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 control_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/control/fixedwing.hpp> +#include <systemlib/param/param.h> +#include <drivers/drv_hrt.h> +#include <math.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. + */ +extern "C" __EXPORT int control_demo_main(int argc, char *argv[]); + +/** + * Mainloop of deamon. + */ +int control_demo_thread_main(int argc, char *argv[]); + +/** + * Test function + */ +void test(); + +/** + * 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: control_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 control_demo_main(int argc, char *argv[]) +{ + + if (argc < 1) + usage("missing command"); + + if (!strcmp(argv[1], "start")) { + + if (thread_running) { + printf("control_demo already running\n"); + /* this is not an error */ + exit(0); + } + + thread_should_exit = false; + deamon_task = task_spawn("control_demo", + SCHED_DEFAULT, + SCHED_PRIORITY_MAX - 10, + 4096, + control_demo_thread_main, + (argv) ? (const char **)&argv[2] : (const char **)NULL); + exit(0); + } + + if (!strcmp(argv[1], "test")) { + test(); + exit(0); + } + + if (!strcmp(argv[1], "stop")) { + thread_should_exit = true; + exit(0); + } + + if (!strcmp(argv[1], "status")) { + if (thread_running) { + printf("\tcontrol_demo app is running\n"); + + } else { + printf("\tcontrol_demo app not started\n"); + } + + exit(0); + } + + usage("unrecognized command"); + exit(1); +} + +int control_demo_thread_main(int argc, char *argv[]) +{ + + printf("[control_Demo] starting\n"); + + using namespace control; + + fixedwing::BlockMultiModeBacksideAutopilot autopilot(NULL, "FWB"); + + thread_running = true; + + while (!thread_should_exit) { + autopilot.update(); + } + + printf("[control_demo] exiting.\n"); + + thread_running = false; + + return 0; +} + +void test() +{ + printf("beginning control lib test\n"); + control::basicBlocksTest(); +} |