diff options
Diffstat (limited to 'src')
-rw-r--r-- | src/examples/px4_daemon_app/module.mk | 40 | ||||
-rw-r--r-- | src/examples/px4_daemon_app/px4_daemon_app.c | 137 | ||||
-rw-r--r-- | src/examples/px4_mavlink_debug/module.mk | 40 | ||||
-rw-r--r-- | src/examples/px4_mavlink_debug/px4_mavlink_debug.c | 74 | ||||
-rw-r--r-- | src/examples/px4_simple_app/module.mk | 40 | ||||
-rw-r--r-- | src/examples/px4_simple_app/px4_simple_app.c | 115 |
6 files changed, 446 insertions, 0 deletions
diff --git a/src/examples/px4_daemon_app/module.mk b/src/examples/px4_daemon_app/module.mk new file mode 100644 index 000000000..d23c19b75 --- /dev/null +++ b/src/examples/px4_daemon_app/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 = px4_daemon_app + +SRCS = px4_daemon_app.c diff --git a/src/examples/px4_daemon_app/px4_daemon_app.c b/src/examples/px4_daemon_app/px4_daemon_app.c new file mode 100644 index 000000000..a5d847777 --- /dev/null +++ b/src/examples/px4_daemon_app/px4_daemon_app.c @@ -0,0 +1,137 @@ +/**************************************************************************** + * + * 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 px4_deamon_thread_main(int argc, char *argv[]); + +/** + * 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: 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; + deamon_task = task_spawn("deamon", + SCHED_DEFAULT, + SCHED_PRIORITY_DEFAULT, + 4096, + px4_deamon_thread_main, + (argv) ? (const char **)&argv[2] : (const char **)NULL); + 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); +} + +int px4_deamon_thread_main(int argc, char *argv[]) { + + printf("[deamon] starting\n"); + + thread_running = true; + + while (!thread_should_exit) { + printf("Hello Deamon!\n"); + sleep(10); + } + + printf("[deamon] exiting.\n"); + + thread_running = false; + + return 0; +} diff --git a/src/examples/px4_mavlink_debug/module.mk b/src/examples/px4_mavlink_debug/module.mk new file mode 100644 index 000000000..3d400fdbf --- /dev/null +++ b/src/examples/px4_mavlink_debug/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. +# +############################################################################ + +# +# Basic example application +# + +MODULE_COMMAND = px4_mavlink_debug + +SRCS = px4_mavlink_debug.c
\ No newline at end of file diff --git a/src/examples/px4_mavlink_debug/px4_mavlink_debug.c b/src/examples/px4_mavlink_debug/px4_mavlink_debug.c new file mode 100644 index 000000000..aa1eb5ed8 --- /dev/null +++ b/src/examples/px4_mavlink_debug/px4_mavlink_debug.c @@ -0,0 +1,74 @@ +/**************************************************************************** + * + * 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_mavlink_debug.c + * Debug application example for PX4 autopilot + */ + +#include <nuttx/config.h> +#include <unistd.h> +#include <stdio.h> +#include <poll.h> + +#include <systemlib/err.h> + +#include <uORB/uORB.h> +#include <uORB/topics/debug_key_value.h> + +__EXPORT int px4_mavlink_debug_main(int argc, char *argv[]); + +int px4_mavlink_debug_main(int argc, char *argv[]) +{ + printf("Hello Debug!\n"); + + /* advertise debug value */ + struct debug_key_value_s dbg = { .key = "velx", .value = 0.0f }; + orb_advert_t pub_dbg = orb_advertise(ORB_ID(debug_key_value), &dbg); + + int value_counter = 0; + + while (value_counter < 100) { + /* send one value */ + dbg.value = value_counter; + orb_publish(ORB_ID(debug_key_value), pub_dbg, &dbg); + + warnx("sent one more value.."); + + value_counter++; + usleep(500000); + } + + return 0; +} diff --git a/src/examples/px4_simple_app/module.mk b/src/examples/px4_simple_app/module.mk new file mode 100644 index 000000000..2c102fa50 --- /dev/null +++ b/src/examples/px4_simple_app/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. +# +############################################################################ + +# +# Basic example application +# + +MODULE_COMMAND = px4_simple_app + +SRCS = px4_simple_app.c diff --git a/src/examples/px4_simple_app/px4_simple_app.c b/src/examples/px4_simple_app/px4_simple_app.c new file mode 100644 index 000000000..7f655964d --- /dev/null +++ b/src/examples/px4_simple_app/px4_simple_app.c @@ -0,0 +1,115 @@ +/**************************************************************************** + * + * 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_simple_app.c + * Minimal application example for PX4 autopilot + */ + +#include <nuttx/config.h> +#include <unistd.h> +#include <stdio.h> +#include <poll.h> + +#include <uORB/uORB.h> +#include <uORB/topics/sensor_combined.h> +#include <uORB/topics/vehicle_attitude.h> + +__EXPORT int px4_simple_app_main(int argc, char *argv[]); + +int px4_simple_app_main(int argc, char *argv[]) +{ + printf("Hello Sky!\n"); + + /* subscribe to sensor_combined topic */ + int sensor_sub_fd = orb_subscribe(ORB_ID(sensor_combined)); + orb_set_interval(sensor_sub_fd, 1000); + + /* advertise attitude topic */ + struct vehicle_attitude_s att; + memset(&att, 0, sizeof(att)); + orb_advert_t att_pub = orb_advertise(ORB_ID(vehicle_attitude), &att); + + /* one could wait for multiple topics with this technique, just using one here */ + struct pollfd fds[] = { + { .fd = sensor_sub_fd, .events = POLLIN }, + /* there could be more file descriptors here, in the form like: + * { .fd = other_sub_fd, .events = POLLIN }, + */ + }; + + int error_counter = 0; + + while (true) { + /* wait for sensor update of 1 file descriptor for 1000 ms (1 second) */ + int poll_ret = poll(fds, 1, 1000); + + /* handle the poll result */ + if (poll_ret == 0) { + /* this means none of our providers is giving us data */ + printf("[px4_simple_app] Got no data within a second\n"); + } else if (poll_ret < 0) { + /* this is seriously bad - should be an emergency */ + if (error_counter < 10 || error_counter % 50 == 0) { + /* use a counter to prevent flooding (and slowing us down) */ + printf("[px4_simple_app] ERROR return value from poll(): %d\n" + , poll_ret); + } + error_counter++; + } else { + + if (fds[0].revents & POLLIN) { + /* obtained data for the first file descriptor */ + struct sensor_combined_s raw; + /* copy sensors raw data into local buffer */ + orb_copy(ORB_ID(sensor_combined), sensor_sub_fd, &raw); + printf("[px4_simple_app] Accelerometer:\t%8.4f\t%8.4f\t%8.4f\n", + (double)raw.accelerometer_m_s2[0], + (double)raw.accelerometer_m_s2[1], + (double)raw.accelerometer_m_s2[2]); + + /* set att and publish this information for other apps */ + att.roll = raw.accelerometer_m_s2[0]; + att.pitch = raw.accelerometer_m_s2[1]; + att.yaw = raw.accelerometer_m_s2[2]; + orb_publish(ORB_ID(vehicle_attitude), att_pub, &att); + } + /* there could be more file descriptors here, in the form like: + * if (fds[1..n].revents & POLLIN) {} + */ + } + } + + return 0; +} |