send_event.h
4.53 KB
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
/****************************************************************************
*
* Copyright (c) 2017 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.
*
****************************************************************************/
#pragma once
#include "status_display.h"
#include "rc_loss_alarm.h"
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <px4_platform_common/module.h>
#include <px4_platform_common/module_params.h>
#include <uORB/Publication.hpp>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/vehicle_command_ack.h>
namespace events
{
extern "C" __EXPORT int send_event_main(int argc, char *argv[]);
/** @class SendEvent The SendEvent class manages the RC loss audible alarm, LED status display, and thermal calibration. */
class SendEvent : public ModuleBase<SendEvent>, public ModuleParams, public px4::ScheduledWorkItem
{
public:
SendEvent();
~SendEvent();
/**
* @see ModuleBase
* @brief Recognizes custom startup commands, called from the main() function entry.
* @param argc The task argument count.
* @param argc Pointer to the task argument variable array.
* @return Returns 0 iff successful, otherwise < 0 on error.
*/
static int custom_command(int argc, char *argv[]);
/**
* @see ModuleBase
* @brief Prints usage options to the console.
* @param reason The requested usage reason for printing to console.
* @return Returns 0 iff successful, -1 otherwise.
*/
static int print_usage(const char *reason = nullptr);
/**
* @brief Spawns and initializes the class in the same context as the
* work queue and starts the background listener.
* @param argc The input argument count.
* @param argv Pointer to the input argument array.
* @return Returns 0 iff successful, -1 otherwise.
*/
static int task_spawn(int argc, char *argv[]);
private:
/**
* @brief Returns an ACK to a vehicle_command.
* @param cmd The vehicle command struct being referenced.
* @param result The command acknowledgement result.
*/
void answer_command(const vehicle_command_s &cmd, unsigned result);
/**
* @brief Calls process_commands() and schedules the next cycle.
*/
void Run() override;
/**
* @brief Checks for new commands and processes them.
*/
void process_commands();
/**
* @brief Starts background task listening for commands.
* @return Returns 0 iff successful, otherwise < 0 on error.
*/
int start();
uORB::Subscription _vehicle_command_sub{ORB_ID(vehicle_command)};
/** @var _status_display Pointer to the status display object. */
status::StatusDisplay *_status_display = nullptr;
/** @var _rc_loss_alarm Pointer to the RC loss alarm object. */
rc_loss::RC_Loss_Alarm *_rc_loss_alarm = nullptr;
/** @note Declare local parameters using defined parameters. */
DEFINE_PARAMETERS(
/** @var _param_status_display Parameter to enable/disable the LED status display. */
(ParamBool<px4::params::EV_TSK_STAT_DIS>) _param_ev_tsk_stat_dis,
/** @var _param_rc_loss The RC comms loss status flag. */
(ParamBool<px4::params::EV_TSK_RC_LOSS>) _param_ev_tsk_rc_loss
)
};
} // namespace events