/**
* 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;
}
/**
* 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;
}
/**
* 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;
}
/**
* 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;
}
