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A test script is statically linked (will eventually be uploaded by the GCS and stored in the VM), it can be found under: Modules/FlightPlan/flightplans/test.py To start the script send the FlightPlanControl object with the Start command, to stop send the Stop or Kill commands. Next release will be the OpenPilot python libraries and access to UAVObjects from the script. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2480 ebee16cc-31ac-478f-84a7-5cbb03baadba
123 lines
2.9 KiB
C
123 lines
2.9 KiB
C
/**
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******************************************************************************
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* @addtogroup OpenPilotSystem OpenPilot System
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* @{
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* @addtogroup OpenPilotLibraries OpenPilot System Libraries
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* @{
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* @file taskmonitor.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Task monitoring library
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include "openpilot.h"
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//#include "taskmonitor.h"
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// Private constants
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// Private types
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// Private variables
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static xSemaphoreHandle lock;
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static xTaskHandle handles[TASKINFO_RUNNING_NUMELEM];
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// Private functions
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/**
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* Initialize library
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*/
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int32_t TaskMonitorInitialize(void)
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{
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lock = xSemaphoreCreateRecursiveMutex();
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memset(handles, 0, sizeof(xTaskHandle)*TASKINFO_RUNNING_NUMELEM);
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return 0;
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}
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/**
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* Register a task handle with the library
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*/
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int32_t TaskMonitorAdd(TaskInfoRunningElem task, xTaskHandle handle)
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{
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if (task < TASKINFO_RUNNING_NUMELEM)
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{
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xSemaphoreTakeRecursive(lock, portMAX_DELAY);
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handles[task] = handle;
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xSemaphoreGiveRecursive(lock);
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return 0;
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}
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else
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{
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return -1;
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}
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}
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/**
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* Remove a task handle from the library
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*/
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int32_t TaskMonitorRemove(TaskInfoRunningElem task)
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{
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if (task < TASKINFO_RUNNING_NUMELEM)
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{
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xSemaphoreTakeRecursive(lock, portMAX_DELAY);
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handles[task] = 0;
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xSemaphoreGiveRecursive(lock);
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return 0;
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}
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else
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{
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return -1;
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}
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}
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/**
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* Update the status of all tasks
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*/
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void TaskMonitorUpdateAll(void)
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{
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TaskInfoData data;
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int n;
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// Lock
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xSemaphoreTakeRecursive(lock, portMAX_DELAY);
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// Update all task information
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for (n = 0; n < TASKINFO_RUNNING_NUMELEM; ++n)
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{
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if (handles[n] != 0)
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{
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data.Running[n] = TASKINFO_RUNNING_TRUE;
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#if defined(ARCH_POSIX) || defined(ARCH_WIN32)
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data.StackRemaining[n] = 10000;
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#else
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data.StackRemaining[n] = uxTaskGetStackHighWaterMark(handles[n]) * 4;
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#endif
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}
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else
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{
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data.Running[n] = TASKINFO_RUNNING_FALSE;
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data.StackRemaining[n] = 0;
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}
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}
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// Update object
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TaskInfoSet(&data);
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// Done
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xSemaphoreGiveRecursive(lock);
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}
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