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dc05ceaad2
- this is a new module for temperature compensation that consolidates the functionality previously handled in the sensors module (calculating runtime thermal corrections) and the events module (online thermal calibration) - by collecting this functionality into a single module we can optionally disable it on systems where it's not used and save some flash (if disabled at build time) or memory (disabled at run time)
130 lines
4.5 KiB
C++
130 lines
4.5 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2017 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#pragma once
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#include "status_display.h"
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#include "rc_loss_alarm.h"
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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#include <px4_platform_common/module.h>
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#include <px4_platform_common/module_params.h>
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#include <uORB/PublicationQueued.hpp>
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#include <uORB/topics/vehicle_command.h>
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#include <uORB/topics/vehicle_command_ack.h>
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namespace events
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{
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extern "C" __EXPORT int send_event_main(int argc, char *argv[]);
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/** @class SendEvent The SendEvent class manages the RC loss audible alarm, LED status display, and thermal calibration. */
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class SendEvent : public ModuleBase<SendEvent>, public ModuleParams, public px4::ScheduledWorkItem
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{
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public:
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SendEvent();
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~SendEvent();
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/**
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* @see ModuleBase
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* @brief Recognizes custom startup commands, called from the main() function entry.
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* @param argc The task argument count.
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* @param argc Pointer to the task argument variable array.
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* @return Returns 0 iff successful, otherwise < 0 on error.
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*/
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static int custom_command(int argc, char *argv[]);
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/**
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* @see ModuleBase
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* @brief Prints usage options to the console.
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* @param reason The requested usage reason for printing to console.
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* @return Returns 0 iff successful, -1 otherwise.
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*/
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static int print_usage(const char *reason = nullptr);
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/**
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* @brief Spawns and initializes the class in the same context as the
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* work queue and starts the background listener.
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* @param argc The input argument count.
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* @param argv Pointer to the input argument array.
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* @return Returns 0 iff successful, -1 otherwise.
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*/
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static int task_spawn(int argc, char *argv[]);
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private:
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/**
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* @brief Returns an ACK to a vehicle_command.
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* @param cmd The vehicle command struct being referenced.
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* @param result The command acknowledgement result.
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*/
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void answer_command(const vehicle_command_s &cmd, unsigned result);
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/**
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* @brief Calls process_commands() and schedules the next cycle.
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*/
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void Run() override;
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/**
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* @brief Checks for new commands and processes them.
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*/
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void process_commands();
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/**
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* @brief Starts background task listening for commands.
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* @return Returns 0 iff successful, otherwise < 0 on error.
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*/
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int start();
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uORB::Subscription _vehicle_command_sub{ORB_ID(vehicle_command)};
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/** @var _status_display Pointer to the status display object. */
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status::StatusDisplay *_status_display = nullptr;
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/** @var _rc_loss_alarm Pointer to the RC loss alarm object. */
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rc_loss::RC_Loss_Alarm *_rc_loss_alarm = nullptr;
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/** @note Declare local parameters using defined parameters. */
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DEFINE_PARAMETERS(
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/** @var _param_status_display Parameter to enable/disable the LED status display. */
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(ParamBool<px4::params::EV_TSK_STAT_DIS>) _param_ev_tsk_stat_dis,
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/** @var _param_rc_loss The RC comms loss status flag. */
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(ParamBool<px4::params::EV_TSK_RC_LOSS>) _param_ev_tsk_rc_loss
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)
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};
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} // namespace events
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