mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-11-29 07:24:13 +01:00
fc54159369
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2415 ebee16cc-31ac-478f-84a7-5cbb03baadba
124 lines
4.3 KiB
C
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);
|
|
}
|
|
}
|