send_event: convert to use ModuleBase

ROMFS/px4fmu_common/init.d/rcS

@@ -463,7 +463,7 @@ then
 	    commander start
 	fi
 
-	if send_event start_listening
+	if send_event start
 	then
 	fi
 

src/modules/events/send_event.cpp

@@ -38,14 +38,13 @@
 #include <px4_log.h>
 #include <drivers/drv_hrt.h>
 
-static SendEvent *send_event_obj = nullptr;
 struct work_s SendEvent::_work = {};
 
 // Run it at 30 Hz.
 const unsigned SEND_EVENT_INTERVAL_US = 33000;
 
 
-int SendEvent::initialize()
+int SendEvent::task_spawn(int argc, char *argv[])
 {
 	int ret = work_queue(LPWORK, &_work, (worker_t)&SendEvent::initialize_trampoline, nullptr, 0);
 
@@ -59,13 +58,14 @@ int SendEvent::initialize()
 		/* wait up to 1s */
 		usleep(2500);
 
-	} while ((!send_event_obj || !send_event_obj->is_running()) && ++i < 400);
+	} while (!_object && ++i < 400);
 
 	if (i == 400) {
-		PX4_ERR("failed to start");
 		return -1;
 	}
 
+	_task_id = task_id_is_work_queue;
+
 	return 0;
 }
 
@@ -75,13 +75,10 @@ SendEvent::SendEvent()
 
 int SendEvent::start()
 {
-	if (_task_is_running) {
+	if (is_running()) {
 		return 0;
 	}
 
-	_task_is_running = true;
-	_task_should_exit = false;
-
 	_vehicle_command_sub = orb_subscribe(ORB_ID(vehicle_command));
 
 	// Kick off the cycling. We can call it directly because we're already in the work queue context
@@ -90,37 +87,17 @@ int SendEvent::start()
 	return 0;
 }
 
-void SendEvent::stop()
-{
-	if (!_task_is_running) {
-		return;
-	}
-
-	_task_should_exit = true;
-	// Wait for task to exit
-	int i = 0;
-
-	do {
-		/* wait up to 3s */
-		usleep(100000);
-
-	} while (_task_is_running && ++i < 30);
-
-	if (i == 30) {
-		PX4_ERR("failed to stop");
-	}
-}
-
 void SendEvent::initialize_trampoline(void *arg)
 {
-	send_event_obj = new SendEvent();
+	SendEvent *send_event = new SendEvent();
 
-	if (!send_event_obj) {
+	if (!send_event) {
 		PX4_ERR("alloc failed");
 		return;
 	}
 
-	send_event_obj->start();
+	send_event->start();
+	_object = send_event;
 }
 
 void
@@ -133,13 +110,13 @@ SendEvent::cycle_trampoline(void *arg)
 
 void SendEvent::cycle()
 {
-	if (_task_should_exit) {
+	if (should_exit()) {
 		if (_vehicle_command_sub >= 0) {
 			orb_unsubscribe(_vehicle_command_sub);
 			_vehicle_command_sub = -1;
 		}
 
-		_task_is_running = false;
+		exit_and_cleanup();
 		return;
 	}
 
@@ -213,63 +190,44 @@ void SendEvent::answer_command(const vehicle_command_s &cmd, unsigned result)
 }
 
 
-void SendEvent::print_status()
-{
-	PX4_INFO("running");
-}
-
-
 
-static void print_usage(const char *reason = nullptr)
+int SendEvent::print_usage(const char *reason)
 {
 	if (reason) {
-		PX4_WARN("%s\n", reason);
+		printf("%s\n\n", reason);
 	}
 
-	PX4_INFO("usage: send_event {start_listening|stop_listening|status|temperature_calibration}\n"
-		 "\tstart_listening: start background task to listen to events\n"
-		 "\ttemperature_calibration [-g] [-a] [-b]: start temperature calibration task\n"
-		 "\t     all sensors if no option given, 1 or several of gyro, accel, baro otherwise\n"
-		);
-}
-
-
+	PRINT_MODULE_DESCRIPTION(
+		R"DESCR_STR(
+Background process running periodically on the LP work queue to perform housekeeping tasks.
+It is currently only responsible for temperature calibration.
 
-int send_event_main(int argc, char *argv[])
-{
-	if (argc < 2) {
-		print_usage();
-		return 1;
-	}
-
-	if (!strcmp(argv[1], "start_listening")) {
-
-		if (send_event_obj) {
-			PX4_INFO("already running");
-			return -1;
-		}
+The tasks can be started via CLI or uORB topics (vehicle_command from MAVLink, etc.).
+)DESCR_STR");
 
-		return SendEvent::initialize();
+	PRINT_MODULE_USAGE_NAME("send_event", "system");
+	PRINT_MODULE_USAGE_COMMAND_DESCR("start", "Start the background task");
+	PRINT_MODULE_USAGE_COMMAND_DESCR("temperature_calibration", "Run temperature calibration process");
+	PRINT_MODULE_USAGE_PARAM_FLAG('g', "calibrate the gyro", true);
+	PRINT_MODULE_USAGE_PARAM_FLAG('a', "calibrate the accel", true);
+	PRINT_MODULE_USAGE_PARAM_FLAG('b', "calibrate the baro (if none of these is given, all will be calibrated)", true);
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
 
-	} else if (!strcmp(argv[1], "stop_listening")) {
-		if (send_event_obj) {
-			send_event_obj->stop();
-			delete send_event_obj;
-			send_event_obj = nullptr;
-		}
+	return 0;
+}
 
-	} else if (!strcmp(argv[1], "status")) {
 
-		if (send_event_obj) {
-			send_event_obj->print_status();
+int send_event_main(int argc, char *argv[])
+{
+	return SendEvent::main(argc, argv);
+}
 
-		} else {
-			PX4_INFO("not running");
-		}
 
-	} else if (!strcmp(argv[1], "temperature_calibration")) {
+int SendEvent::custom_command(int argc, char *argv[])
+{
+	if (!strcmp(argv[0], "temperature_calibration")) {
 
-		if (!send_event_obj) {
+		if (!is_running()) {
 			PX4_ERR("background task not running");
 			return -1;
 		}

src/modules/events/send_event.h

@@ -34,12 +34,13 @@
 #pragma once
 
 #include <px4_workqueue.h>
+#include <px4_module.h>
 #include <uORB/topics/vehicle_command.h>
 #include <uORB/topics/vehicle_command_ack.h>
 
 extern "C" __EXPORT int send_event_main(int argc, char *argv[]);
 
-class SendEvent
+class SendEvent : public ModuleBase<SendEvent>
 {
 public:
 	SendEvent();
@@ -47,14 +48,13 @@ public:
 	/** Initialize class in the same context as the work queue. And start the background listener.
 	 *
 	 * @return 0 if successful, <0 on error */
-	static int initialize();
+	static int task_spawn(int argc, char *argv[]);
 
-	/** Stop background listener */
-	void stop();
+	/** @see ModuleBase */
+	static int custom_command(int argc, char *argv[]);
 
-	bool is_running() { return _task_is_running; }
-
-	void print_status();
+	/** @see ModuleBase */
+	static int print_usage(const char *reason = nullptr);
 
 private:
 
@@ -78,8 +78,6 @@ private:
 	/** return an ACK to a vehicle_command */
 	void answer_command(const vehicle_command_s &cmd, unsigned result);
 
-	volatile bool _task_should_exit = false;
-	volatile bool _task_is_running = false;
 	static struct work_s _work;
 	int _vehicle_command_sub = -1;
 	orb_advert_t _command_ack_pub = nullptr;