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LibrePilot/flight/modules/Example/examplemodevent.c
2013-04-25 13:13:36 +03:00

124 lines
4.3 KiB
C

/**
******************************************************************************
*
* @file examplemodevent.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Example module to be used as a template for actual modules.
* Event callback version.
*
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
/**
* Input objects: ExampleObject1, ExampleSettings
* Output object: ExampleObject2
*
* This module executes in response to ExampleObject1 updates. When the
* module is triggered it will update the data of ExampleObject2.
*
* No threads are used in this example.
*
* UAVObjects are automatically generated by the UAVObjectGenerator from
* the object definition XML file.
*
* Modules have no API, all communication to other modules is done through UAVObjects.
* However modules may use the API exposed by shared libraries.
* See the OpenPilot wiki for more details.
* http://www.openpilot.org/OpenPilot_Application_Architecture
*
*/
#include "openpilot.h"
#include "examplemodevent.h"
#include "exampleobject1.h" // object the module will listen for updates (input)
#include "exampleobject2.h" // object the module will update (output)
#include "examplesettings.h" // object holding module settings (input)
// Private constants
// Private types
// Private variables
// Private functions
static void ObjectUpdatedCb(UAVObjEvent * ev);
/**
* Initialise the module, called on startup.
* \returns 0 on success or -1 if initialisation failed
*/
int32_t ExampleModEventInitialize()
{
// Listen for ExampleObject1 updates, connect a callback function
ExampleObject1ConnectCallback(&ObjectUpdatedCb);
return 0;
}
/**
* This function is called each time ExampleObject1 is updated, this could be
* a local update or a remote update from the GCS. In this example the module
* does not have its own thread, the callbacks are executed from within the
* event thread. Because of that the callback execution time must be kept to
* a minimum, if the callback needs to wait for I/O or other long operations
* then a thread should be used instead (see ExampleModThread.c). This is
* important since all callbacks are executed from the same thread, so other
* queued events can not be executed until the currently active callback returns.
*/
static void ObjectUpdatedCb(UAVObjEvent * ev)
{
ExampleSettingsData settings;
ExampleObject1Data data1;
ExampleObject2Data data2;
int32_t step;
// Make sure that the object update is for ExampleObject1
// This is redundant in this case since this callback will
// only be called for a single object, it is however possible
// to use the same callback for multiple object updates.
if (ev->obj == ExampleObject1Handle()) {
// Update settings with latest value
ExampleSettingsGet(&settings);
// Get the input object
ExampleObject1Get(&data1);
// Determine how to update the output object
if (settings.StepDirection == EXAMPLESETTINGS_STEPDIRECTION_UP) {
step = settings.StepSize;
} else {
step = -settings.StepSize;
}
// Update data
data2.Field1 = data1.Field1 + step;
data2.Field2 = data1.Field2 + step;
data2.Field3 = data1.Field3 + step;
data2.Field4[0] = data1.Field4[0] + step;
data2.Field4[1] = data1.Field4[1] + step;
// Update the ExampleObject2, after this function is called
// notifications to any other modules listening to that object
// will be sent and the GCS object will be updated through the
// telemetry link. All operations will take place asynchronously
// and the following call will return immediately.
ExampleObject2Set(&data2);
}
}