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/****************************************************************************
*
* 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 LandDetector.h
* Abstract interface for land detector algorithms
*
* @author Johan Jansen <jnsn.johan@gmail.com>
*/
#ifndef __LAND_DETECTOR_H__
#define __LAND_DETECTOR_H__
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_land_detected.h>
class LandDetector
{
public:
LandDetector();
virtual ~LandDetector();
/**
* @return true if this task is currently running
**/
inline bool isRunning() const {return _taskIsRunning;}
/**
* @brief Tells the Land Detector task that it should exit
**/
void shutdown();
/**
* @brief Blocking function that should be called from it's own task thread. This method will
* run the underlying algorithm at the desired update rate and publish if the landing state changes.
**/
void start();
protected:
/**
* @brief Pure abstract method that must be overriden by sub-classes. This actually runs the underlying algorithm
* @return true if a landing was detected and this should be broadcast to the rest of the system
**/
virtual bool update() = 0;
/**
* @brief Pure abstract method that is called by this class once for initializing the uderlying algorithm (memory allocation,
* uORB topic subscription, creating file descriptors, etc.)
**/
virtual void initialize() = 0;
/**
* @brief Convinience function for polling uORB subscriptions
* @return true if there was new data and it was successfully copied
**/
bool orb_update(const struct orb_metadata *meta, int handle, void *buffer);
static constexpr uint32_t LAND_DETECTOR_UPDATE_RATE = 50; /**< Run algorithm at 50Hz */
static constexpr uint64_t LAND_DETECTOR_TRIGGER_TIME = 2000000; /**< usec that landing conditions have to hold
before triggering a land */
protected:
orb_advert_t _landDetectedPub; /**< publisher for position in local frame */
struct vehicle_land_detected_s _landDetected; /**< local vehicle position */
private:
bool _taskShouldExit; /**< true if it is requested that this task should exit */
bool _taskIsRunning; /**< task has reached main loop and is currently running */
};
#endif //__LAND_DETECTOR_H__
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