1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
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;
warn("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,
1024,
(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;
}
|