/**
* 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;
}