diff options
Diffstat (limited to 'src/modules/land_detector/land_detector_main.cpp')
| -rw-r--r-- | src/modules/land_detector/land_detector_main.cpp | 214 |
1 files changed, 214 insertions, 0 deletions
diff --git a/src/modules/land_detector/land_detector_main.cpp b/src/modules/land_detector/land_detector_main.cpp new file mode 100644 index 000000000..1e43e7ad5 --- /dev/null +++ b/src/modules/land_detector/land_detector_main.cpp @@ -0,0 +1,214 @@ +/**************************************************************************** + * + * Copyright (c) 2013-2015 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 land_detector_main.cpp + * Land detection algorithm + * + * @author Johan Jansen <jnsn.johan@gmail.com> + */ + +#include <unistd.h> //usleep +#include <stdio.h> +#include <string.h> +#include <stdlib.h> +#include <errno.h> +#include <drivers/drv_hrt.h> +#include <systemlib/systemlib.h> //Scheduler +#include <systemlib/err.h> //print to console + +#include "FixedwingLandDetector.h" +#include "MulticopterLandDetector.h" + +//Function prototypes +static int land_detector_start(const char *mode); +static void land_detector_stop(); + +/** + * land detector app start / stop handling function + * This makes the land detector module accessible from the nuttx shell + * @ingroup apps + */ +extern "C" __EXPORT int land_detector_main(int argc, char *argv[]); + +//Private variables +static LandDetector *land_detector_task = nullptr; +static int _landDetectorTaskID = -1; +static char _currentMode[12]; + +/** +* Deamon thread function +**/ +static void land_detector_deamon_thread(int argc, char *argv[]) +{ + land_detector_task->start(); +} + +/** +* Stop the task, force killing it if it doesn't stop by itself +**/ +static void land_detector_stop() +{ + if (land_detector_task == nullptr || _landDetectorTaskID == -1) { + errx(1, "not running"); + return; + } + + land_detector_task->shutdown(); + + //Wait for task to die + int i = 0; + + do { + /* wait 20ms */ + usleep(20000); + + /* if we have given up, kill it */ + if (++i > 50) { + task_delete(_landDetectorTaskID); + break; + } + } while (land_detector_task->isRunning()); + + + delete land_detector_task; + land_detector_task = nullptr; + _landDetectorTaskID = -1; + errx(0, "land_detector has been stopped"); +} + +/** +* Start new task, fails if it is already running. Returns OK if successful +**/ +static int land_detector_start(const char *mode) +{ + if (land_detector_task != nullptr || _landDetectorTaskID != -1) { + errx(1, "already running"); + return -1; + } + + //Allocate memory + if (!strcmp(mode, "fixedwing")) { + land_detector_task = new FixedwingLandDetector(); + + } else if (!strcmp(mode, "multicopter")) { + land_detector_task = new MulticopterLandDetector(); + + } else { + errx(1, "[mode] must be either 'fixedwing' or 'multicopter'"); + return -1; + } + + //Check if alloc worked + if (land_detector_task == nullptr) { + errx(1, "alloc failed"); + return -1; + } + + //Start new thread task + _landDetectorTaskID = task_spawn_cmd("land_detector", + SCHED_DEFAULT, + SCHED_PRIORITY_DEFAULT, + 1200, + (main_t)&land_detector_deamon_thread, + nullptr); + + if (_landDetectorTaskID < 0) { + errx(1, "task start failed: %d", -errno); + return -1; + } + + /* avoid memory fragmentation by not exiting start handler until the task has fully started */ + const uint32_t timeout = hrt_absolute_time() + 5000000; //5 second timeout + + while (!land_detector_task->isRunning()) { + usleep(50000); + printf("."); + fflush(stdout); + + if (hrt_absolute_time() > timeout) { + err(1, "start failed - timeout"); + land_detector_stop(); + exit(1); + } + } + + printf("\n"); + + //Remember current active mode + strncpy(_currentMode, mode, 12); + + exit(0); + return 0; +} + +/** +* Main entry point for this module +**/ +int land_detector_main(int argc, char *argv[]) +{ + + if (argc < 1) { + warnx("usage: land_detector {start|stop|status} [mode]\nmode can either be 'fixedwing' or 'multicopter'"); + exit(0); + } + + if (argc >= 2 && !strcmp(argv[1], "start")) { + land_detector_start(argv[2]); + } + + if (!strcmp(argv[1], "stop")) { + land_detector_stop(); + exit(0); + } + + if (!strcmp(argv[1], "status")) { + if (land_detector_task) { + + if (land_detector_task->isRunning()) { + warnx("running (%s)", _currentMode); + + } else { + errx(1, "exists, but not running (%s)", _currentMode); + } + + exit(0); + + } else { + errx(1, "not running"); + } + } + + warn("usage: land_detector {start|stop|status} [mode]\nmode can either be 'fixedwing' or 'multicopter'"); + return 1; +} |