Ejemplo n.º 1
0
/**
* 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) {
		PX4_WARN("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 if (!strcmp(mode, "vtol")) {
		land_detector_task = new VtolLandDetector();

	} else {
		PX4_WARN("[mode] must be either 'fixedwing' or 'multicopter'");
		return -1;
	}

	//Check if alloc worked
	if (land_detector_task == nullptr) {
		PX4_WARN("alloc failed");
		return -1;
	}

	//Start new thread task
	int ret = land_detector_task->start();

	if (ret) {
		PX4_WARN("task start failed: %d", -errno);
		return -1;
	}

	/* avoid memory fragmentation by not exiting start handler until the task has fully started */
	const uint64_t timeout = hrt_absolute_time() + 5000000; //5 second timeout

	/* avoid printing dots just yet and do one sleep before the first check */
	usleep(10000);

	/* check if the waiting involving dots and a newline are still needed */
	if (!land_detector_task->isRunning()) {
		while (!land_detector_task->isRunning()) {
			usleep(50000);

			if (hrt_absolute_time() > timeout) {
				PX4_WARN("start failed - timeout");
				land_detector_stop();
				return 1;
			}
		}
	}

	//Remember current active mode
	strncpy(_currentMode, mode, 12);

	return 0;
}
Ejemplo n.º 2
0
/**
 * 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) {
		PX4_WARN("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 if (!strcmp(mode, "vtol")) {
		land_detector_task = new VtolLandDetector();

	} else {
		PX4_WARN("[mode] must be either 'fixedwing', 'multicopter', or 'vtol'");
		return -1;
	}

	// Check if alloc worked
	if (land_detector_task == nullptr) {
		PX4_WARN("alloc failed");
		return -1;
	}

	// Start new thread task
	int ret = land_detector_task->start();

	if (ret) {
		PX4_WARN("task start failed: %d", -errno);
		return -1;
	}

	// Avoid memory fragmentation by not exiting start handler until the task has fully started
	const uint64_t timeout = hrt_absolute_time() + 5000000; // 5 second timeout

	// Do one sleep before the first check
	usleep(10000);

	if (!land_detector_task->is_running()) {
		while (!land_detector_task->is_running()) {
			usleep(50000);

			if (hrt_absolute_time() > timeout) {
				PX4_WARN("start failed - timeout");
				land_detector_stop();
				return 1;
			}
		}
	}

	// Remember current active mode
	strncpy(_currentMode, mode, sizeof(_currentMode) - 1);
	_currentMode[sizeof(_currentMode) - 1] = '\0';

	return 0;
}
Ejemplo n.º 3
0
/**
* Main entry point for this module
**/
int land_detector_main(int argc, char *argv[])
{

	if (argc < 2) {
		goto exiterr;
	}

	if (argc >= 2 && !strcmp(argv[1], "start")) {
		if (land_detector_start(argv[2]) != 0) {
			warnx("land_detector start failed");
			return 1;
		}

		return 0;
	}

	if (!strcmp(argv[1], "stop")) {
		land_detector_stop();
		return 0;
	}

	if (!strcmp(argv[1], "status")) {
		if (land_detector_task) {

			if (land_detector_task->isRunning()) {
				warnx("running (%s): %s", _currentMode, (land_detector_task->isLanded()) ? "LANDED" : "IN AIR");

			} else {
				warnx("exists, but not running (%s)", _currentMode);
			}

			return 0;

		} else {
			warnx("not running");
			return 1;
		}
	}

exiterr:
	warnx("usage: land_detector {start|stop|status} [mode]");
	warnx("mode can either be 'fixedwing' or 'multicopter'");
	return 1;
}
/**
* 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,
					     1000,
					     (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

	/* avoid printing dots just yet and do one sleep before the first check */
	usleep(10000);

	/* check if the waiting involving dots and a newline are still needed */
	if (!land_detector_task->isRunning()) {
		while (!land_detector_task->isRunning()) {

			printf(".");
			fflush(stdout);
			usleep(50000);

			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;
}
Ejemplo n.º 5
0
/**
 * Main entry point for this module
 */
int land_detector_main(int argc, char *argv[])
{

	if (argc < 2) {
		goto exiterr;
	}

	if (argc >= 2 && !strcmp(argv[1], "start")) {
		if (land_detector_start(argv[2]) != 0) {
			PX4_WARN("land_detector start failed");
			return 1;
		}

		return 0;
	}

	if (!strcmp(argv[1], "stop")) {
		land_detector_stop();
		return 0;
	}

	if (!strcmp(argv[1], "status")) {
		if (land_detector_task) {

			if (land_detector_task->is_running()) {
				PX4_INFO("running (%s)", _currentMode);
				LandDetector::LandDetectionState state = land_detector_task->get_state();

				switch (state) {
				case LandDetector::LandDetectionState::FLYING:
					PX4_INFO("State: Flying");
					break;

				case LandDetector::LandDetectionState::LANDED:
					PX4_INFO("State: Landed");
					break;

				case LandDetector::LandDetectionState::FREEFALL:
					PX4_INFO("State: Freefall");
					break;

				default:
					PX4_ERR("State: unknown");
					break;
				}

			} else {
				PX4_WARN("exists, but not running (%s)", _currentMode);
			}

			return 0;

		} else {
			PX4_WARN("not running");
			return 1;
		}
	}

exiterr:
	PX4_WARN("usage: land_detector {start|stop|status} [mode]");
	PX4_WARN("mode can either be 'fixedwing' or 'multicopter'");
	return 1;
}