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a2d8544931
to make the flight code compile again. Needs careful review, particularly all the fixes for the signed vs unsigned comparisons. +review OPReview-459
139 lines
4.6 KiB
C
139 lines
4.6 KiB
C
/**
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******************************************************************************
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*
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* @file examplemodthread.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Example module to be used as a template for actual modules.
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* Threaded version.
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*
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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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/**
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* Input objects: ExampleObject1, ExampleSettings
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* Output object: ExampleObject2
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*
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* This module executes in response to ExampleObject1 updates. When the
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* module is triggered it will update the data of ExampleObject2.
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*
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* The module executes in its own thread in this example.
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*
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* UAVObjects are automatically generated by the UAVObjectGenerator from
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* the object definition XML file.
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*
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* Modules have no API, all communication to other modules is done through UAVObjects.
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* However modules may use the API exposed by shared libraries.
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* See the OpenPilot wiki for more details.
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* http://www.openpilot.org/OpenPilot_Application_Architecture
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*/
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#include "openpilot.h"
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#include "examplemodthread.h"
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#include "exampleobject1.h" // object the module will listen for updates (input)
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#include "exampleobject2.h" // object the module will update (output)
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#include "examplesettings.h" // object holding module settings (input)
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// Private constants
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#define MAX_QUEUE_SIZE 20
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#define STACK_SIZE configMINIMAL_STACK_SIZE
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#define TASK_PRIORITY (tskIDLE_PRIORITY+1)
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// Private types
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// Private variables
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static xQueueHandle queue;
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static xTaskHandle taskHandle;
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// Private functions
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static void exampleTask(void *parameters);
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/**
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* Initialise the module, called on startup
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* \returns 0 on success or -1 if initialisation failed
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*/
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int32_t ExampleModThreadInitialize()
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{
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// Create object queue
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queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
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// Listen for ExampleObject1 updates
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ExampleObject1ConnectQueue(queue);
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// Start main task
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xTaskCreate(exampleTask, (signed char *)"ExampleThread", STACK_SIZE, NULL, TASK_PRIORITY, &taskHandle);
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return 0;
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}
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/**
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* Module thread, should not return.
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*/
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static void exampleTask(__attribute__((unused)) void *parameters)
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{
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UAVObjEvent ev;
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ExampleSettingsData settings;
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ExampleObject1Data data1;
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ExampleObject1Data data2;
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int32_t step;
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// Main task loop
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while (1) {
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// Check the event queue for any object updates. In this case
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// we are only listening for the ExampleSettings object. However
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// the module could listen to multiple objects.
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// Since this object only executes on object updates, the task
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// will block until an object event is pushed in the queue.
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while (xQueueReceive(queue, &ev, portMAX_DELAY) != pdTRUE) ;
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// Make sure that the object update is for ExampleObject1
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// This is redundant in this example since we have only
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// registered a single object in the queue, however
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// in most practical cases there will be more than one
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// object connected in the queue.
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if (ev.obj == ExampleObject1Handle()) {
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// Update settings with latest value
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ExampleSettingsGet(&settings);
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// Get the input object
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ExampleObject1Get(&data1);
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// Determine how to update the output object
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if (settings.StepDirection == EXAMPLESETTINGS_STEPDIRECTION_UP) {
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step = settings.StepSize;
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} else {
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step = -settings.StepSize;
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}
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// Update data
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data2.Field1 = data1.Field1 + step;
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data2.Field2 = data1.Field2 + step;
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data2.Field3 = data1.Field3 + step;
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data2.Field4[0] = data1.Field4[0] + step;
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data2.Field4[1] = data1.Field4[1] + step;
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// Update the ExampleObject2, after this function is called
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// notifications to any other modules listening to that object
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// will be sent and the GCS object will be updated through the
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// telemetry link. All operations will take place asynchronously
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// and the following call will return immediately.
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ExampleObject2Set(&data2);
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}
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}
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}
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