moved rc_loss_alarm into the event module

cmake/configs/nuttx_px4fmu-v4_default.cmake

@@ -115,11 +115,6 @@ set(config_module_list
 	#
 	modules/dataman
 
-	#
-	# RC Loss Alarm
-	#
-	modules/rc_loss_alarm
-
 	#
 	# OBC challenge
 	#

src/modules/events/CMakeLists.txt

@@ -37,15 +37,15 @@ px4_add_module(
 	STACK_MAIN 2200
 	COMPILE_FLAGS
 	SRCS
+		rc_loss_alarm.cpp
 		send_event.cpp
+		set_leds.cpp
+		status_display.cpp
+		subscriber_handler.cpp
 		temperature_calibration/accel.cpp
 		temperature_calibration/baro.cpp
 		temperature_calibration/gyro.cpp
 		temperature_calibration/task.cpp
-		subscriber_handler.cpp
-		status_display.cpp
-		set_leds.cpp
 	DEPENDS
 		modules__uORB
 	)
-

src/modules/events/rc_loss_alarm.cpp

@@ -0,0 +1,103 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2018 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file rc_loss_alarm.cpp
+ *
+ */
+
+#include "rc_loss_alarm.h"
+
+#include <px4_defines.h>
+
+#include <drivers/drv_hrt.h>
+#include <stdint.h>
+
+#include <tunes/tune_definition.h>
+
+#include <uORB/topics/tune_control.h>
+
+RC_Loss_Alarm::RC_Loss_Alarm(const events::SubscriberHandler &subscriber_handler)
+	: _subscriber_handler(subscriber_handler)
+{
+}
+
+bool RC_Loss_Alarm::check_for_updates()
+{
+	if (_subscriber_handler.vehicle_status_updated()) {
+		orb_copy(ORB_ID(vehicle_status), _subscriber_handler.get_vehicle_status_sub(), &_vehicle_status);
+		return true;
+	}
+
+	return false;
+}
+
+void RC_Loss_Alarm::process()
+{
+	if (!check_for_updates()) {
+		return;
+	}
+
+	if (!_was_armed &&
+	    _vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
+
+		_was_armed = true;	// Once true, impossible to go back to false
+	}
+
+	if (!_had_rc && !_vehicle_status.rc_signal_lost) {
+
+		_had_rc = true;
+	}
+
+	if (_was_armed && _had_rc && _vehicle_status.rc_signal_lost &&
+	    _vehicle_status.arming_state != vehicle_status_s::ARMING_STATE_ARMED) {
+
+		play_tune();
+	}
+}
+
+void RC_Loss_Alarm::play_tune()
+{
+	struct tune_control_s tune_control = {};
+
+	if (_tune_control_pub == nullptr) {
+		_tune_control_pub = orb_advertise(ORB_ID(tune_control), &tune_control);
+
+	} else	{
+		tune_control.tune_id = static_cast<int>(TuneID::ERROR_TUNE);
+		tune_control.strength = tune_control_s::STRENGTH_MAX;
+		tune_control.tune_override = 1;
+		tune_control.timestamp = hrt_absolute_time();
+		orb_publish(ORB_ID(tune_control), _tune_control_pub, &tune_control);
+	}
+}

src/modules/events/rc_loss_alarm.h

@@ -31,47 +31,45 @@
  *
  ****************************************************************************/
 
+/**
+ * @file rc_loss_alarm.h
+ * Tone alarm in the event of RC loss
+ *
+ */
 
+#pragma once
 
-#include <px4_module.h>
-#include <px4_workqueue.h>
-
-#include <tunes/tune_definition.h>
+#include "subscriber_handler.h"
 
 #include <uORB/uORB.h>
 #include <uORB/topics/vehicle_status.h>
 
-#define UPDATE_RATE	(1000000)	  /* microseconds, 1 Hz */
-
-class RC_Loss_Alarm: public ModuleBase<RC_Loss_Alarm>
+class RC_Loss_Alarm
 {
 public:
-	RC_Loss_Alarm() = default;
-	~RC_Loss_Alarm();
-	RC_Loss_Alarm(const RC_Loss_Alarm &other) = delete;
-	RC_Loss_Alarm(const RC_Loss_Alarm &&other) = delete;
-	RC_Loss_Alarm &operator= (const RC_Loss_Alarm &other) = delete;
-	RC_Loss_Alarm &operator= (const RC_Loss_Alarm &&other) = delete;
-
-	/** @see ModuleBase */
-	static int task_spawn(int argc, char *argv[]);
 
-	/** @see ModuleBase */
-	static int custom_command(int argc, char *argv[]);
+	RC_Loss_Alarm(const events::SubscriberHandler &subscriber_handler);
 
-	/** @see ModuleBase */
-	static int print_usage(const char *reason = nullptr);
+	/** regularily called to handle state updates */
+	void process();
 
 private:
-	static struct work_s	_work;
-	int 			_vehicle_status_sub = -1;
-	static orb_advert_t 	_tune_control_pub;
-	static bool 		_was_armed;
-	static bool 		_had_rc;  // Don't trigger alarm for systems without RC
+	/**
+	 * check for topic updates
+	 * @return true if one or more topics got updated
+	 */
+	bool check_for_updates();
+
+	/** Publish tune control to sound alarm */
+	void play_tune();
 
-	static void cycle_trampoline(void *arg);
-	void 	    cycle();
-	static void pub_tune();
-	static void stop_tune();
-	static int  reset_module();
+	/** Publish tune control to stop any ongoing tune, including alarm */
+	void stop_tune();
+
+	int 			_vehicle_status_sub = -1;
+	struct vehicle_status_s	_vehicle_status = {};
+	bool 		_was_armed = false;
+	bool 		_had_rc = false;  // Don't trigger alarm for systems without RC
+	orb_advert_t 	_tune_control_pub = nullptr;
+	const events::SubscriberHandler &_subscriber_handler;
 };

src/modules/events/send_event.cpp

@@ -64,7 +64,7 @@ int SendEvent::task_spawn(int argc, char *argv[])
 }
 
 SendEvent::SendEvent()
-	: _status_display(_subscriber_handler)
+	: _status_display(_subscriber_handler), _rc_loss_alarm(_subscriber_handler)
 {
 }
 
@@ -117,6 +117,7 @@ void SendEvent::cycle()
 	process_commands();
 
 	_status_display.process();
+	_rc_loss_alarm.process();
 
 	work_queue(LPWORK, &_work, (worker_t)&SendEvent::cycle_trampoline, this,
 		   USEC2TICK(SEND_EVENT_INTERVAL_US));
@@ -200,7 +201,7 @@ int SendEvent::print_usage(const char *reason)
 		R"DESCR_STR(
 ### Description
 Background process running periodically on the LP work queue to perform housekeeping tasks.
-It is currently only responsible for temperature calibration.
+It is currently only responsible for temperature calibration and tone alarm on RC Loss.
 
 The tasks can be started via CLI or uORB topics (vehicle_command from MAVLink, etc.).
 )DESCR_STR");

src/modules/events/send_event.h

@@ -35,6 +35,7 @@
 
 #include "subscriber_handler.h"
 #include "status_display.h"
+#include "rc_loss_alarm.h"
 
 #include <px4_workqueue.h>
 #include <px4_module.h>
@@ -84,5 +85,6 @@ private:
 	static struct work_s _work;
 	events::SubscriberHandler _subscriber_handler;
 	status::StatusDisplay _status_display;
+	RC_Loss_Alarm _rc_loss_alarm;
 	orb_advert_t _command_ack_pub = nullptr;
 };

src/modules/events/status_display.h

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2017 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2017-2018 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -33,7 +33,7 @@
 
 /**
  * @file status_display.h
- * Status Display decouple the LED and tune form the original commander
+ * Status Display decouples LED and tunes from commander
  *
  * @author Simone Guscetti <simone@px4.io>
  */
@@ -66,7 +66,7 @@ public:
 protected:
 	/**
 	 * check for topic updates
-	 * @return true if one or more topic got updated
+	 * @return true if one or more topics got updated
 	 */
 	bool check_for_updates();
 
@@ -78,7 +78,7 @@ protected:
 	/** publish LED control */
 	void publish();
 
-	// TODO: review if there is a better variant that allocate this in the memory
+	// TODO: review if there is a better variant that allocates this in the memory
 	struct battery_status_s _battery_status = {};
 	struct cpuload_s _cpu_load = {};
 	struct vehicle_status_s _vehicle_status = {};

src/modules/rc_loss_alarm/CMakeLists.txt

@@ -1,42 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2018 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-px4_add_module(
-	MODULE modules__rc_loss_alarm
-	MAIN rc_loss_alarm
-	STACK_MAIN 512
-	COMPILE_FLAGS
-	SRCS
-		rc_loss_alarm.cpp
-	DEPENDS
-)

src/modules/rc_loss_alarm/rc_loss_alarm.cpp

@@ -1,231 +0,0 @@
-/****************************************************************************
- *
- *	 Copyright (c) 2018 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *		notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *		notice, this list of conditions and the following disclaimer in
- *		the documentation and/or other materials provided with the
- *		distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *		used to endorse or promote products derived from this software
- *		without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-
-
-#include "rc_loss_alarm.h"
-
-#include <px4_defines.h>
-
-#include <drivers/drv_hrt.h>
-#include <stdint.h>
-
-#include <uORB/topics/tune_control.h>
-
-// Init static members
-work_s RC_Loss_Alarm::_work = {};
-bool RC_Loss_Alarm::_was_armed = false;
-bool RC_Loss_Alarm::_had_rc = false;
-orb_advert_t RC_Loss_Alarm::_tune_control_pub = nullptr;
-
-
-RC_Loss_Alarm::~RC_Loss_Alarm()
-{
-	work_cancel(LPWORK, &_work);
-
-	orb_unsubscribe(_vehicle_status_sub);
-
-	orb_unadvertise(_tune_control_pub);
-}
-
-/** @see ModuleBase */
-int RC_Loss_Alarm::task_spawn(int argc, char *argv[])
-{
-	// Instantiate task
-	RC_Loss_Alarm *rc_loss_alarm = nullptr;
-
-	if (_object == nullptr) {
-		rc_loss_alarm = new RC_Loss_Alarm();
-
-		if (rc_loss_alarm == nullptr) {
-			PX4_ERR("failed to start flow");
-			return PX4_ERROR;
-		}
-	}
-
-	_object = rc_loss_alarm;
-
-	// schedule a cycle to start things
-	int ret = work_queue(LPWORK, &_work,
-			     (worker_t)&RC_Loss_Alarm::cycle_trampoline, rc_loss_alarm, 0);
-
-	if (ret < 0) {
-		return ret;
-	}
-
-	// Since this task runs on the work-queue rather than in a separate thread,
-	// we specify the workqueue task_id
-	_task_id = task_id_is_work_queue;
-
-	// wait until task is up & running (the mode_* commands depend on it)
-	if (wait_until_running() < 0) {
-		return -1;
-	}
-
-	return PX4_OK;
-}
-
-/** @see ModuleBase */
-int RC_Loss_Alarm::custom_command(int argc, char *argv[])
-{
-	if (!strcmp(argv[0], "test")) {
-		RC_Loss_Alarm::pub_tune();
-		return PX4_OK;
-
-	} else if (!strcmp(argv[0], "reset")) {
-		return RC_Loss_Alarm::reset_module();
-	}
-
-	return print_usage("unknown command");
-}
-
-/** @see ModuleBase */
-int RC_Loss_Alarm::print_usage(const char *reason)
-{
-	if (reason) {
-		PX4_WARN("%s\n", reason);
-	}
-
-	PRINT_MODULE_DESCRIPTION(
-		R"DESCR_STR(
-### Description
-RC Loss Alarm plays a loud error tune in the event that the drone loses RC
-link after disarming. Ideal for finding a lost drone. The RC Loss Module
-subscribes to the vehicle_status topic and checks the armed state as well as
-the rc_signal_lost flag. The RC Loss alarm will only be triggered if
-rc_signal_lost flag was false at least once at some point (i.e. if an RC is
-connected).
-### Example
-The module is typically started with:
-rc_loss_alarm start
-)DESCR_STR");
-
-	PRINT_MODULE_USAGE_NAME("rc_loss_alarm", "driver");
-	PRINT_MODULE_USAGE_COMMAND_DESCR("start",  "Start the task");
-	PRINT_MODULE_USAGE_COMMAND_DESCR("stop",   "Stop the task");
-	PRINT_MODULE_USAGE_COMMAND_DESCR("status", "Display running status of task");
-	PRINT_MODULE_USAGE_COMMAND_DESCR("test",   "Start alarm tune, can be stopped with 'reset'");
-	PRINT_MODULE_USAGE_COMMAND_DESCR("reset",  "Resets internal state and stops an eventual alarm");
-	return PX4_OK;
-}
-
-void RC_Loss_Alarm::cycle_trampoline(void *arg)
-{
-	RC_Loss_Alarm *dev = reinterpret_cast<RC_Loss_Alarm *>(arg);
-	dev->cycle();
-}
-
-void RC_Loss_Alarm::cycle()
-{
-	// Subscribe if necessary
-	if(_vehicle_status_sub == -1){
-		_vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
-	}
-
-	// Check armed status
-	bool updated = false;
-
-	orb_check(_vehicle_status_sub, &updated);
-	if(updated){
-		struct vehicle_status_s	_vehicle_status = {};
-		orb_copy(ORB_ID(vehicle_status), _vehicle_status_sub, &_vehicle_status);
-
-		if (!_was_armed &&
-				_vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED){
-
-			_was_armed = true;	// Once true, impossible to go back to false
-		}
-
-		if (!_had_rc && !_vehicle_status.rc_signal_lost){
-
-			_had_rc = true;
-		}
-
-		if (_was_armed && _had_rc && _vehicle_status.rc_signal_lost &&
-				_vehicle_status.arming_state != vehicle_status_s::ARMING_STATE_ARMED){
-
-			pub_tune();
-		}
-	}
-
-	// Schedule next cycle unless module is shutting down
-	if (!should_exit()) {
-			work_queue(LPWORK, &_work, (worker_t)&RC_Loss_Alarm::cycle_trampoline, this,
-					 USEC2TICK(UPDATE_RATE));
-	}
-}
-
-void RC_Loss_Alarm::pub_tune()
-{
-	struct tune_control_s tune_control = {};
-	tune_control.tune_id = static_cast<int>(TuneID::ERROR_TUNE);
-	tune_control.strength = tune_control_s::STRENGTH_MAX;
-	tune_control.tune_override = 1;
-	tune_control.timestamp = hrt_absolute_time();
-
-	if (_tune_control_pub == nullptr) {
-		_tune_control_pub = orb_advertise(ORB_ID(tune_control), &tune_control);
-	}else{
-		orb_publish(ORB_ID(tune_control), _tune_control_pub, &tune_control);
-	}
-}
-
-void RC_Loss_Alarm::stop_tune()
-{
-	struct tune_control_s tune_control = {};
-	tune_control.tune_id = static_cast<int>(TuneID::CUSTOM);
-	tune_control.frequency = 0;
-	tune_control.duration = 0;
-	tune_control.silence = 0;
-	tune_control.tune_override = true;
-
-	if (_tune_control_pub == nullptr) {
-		_tune_control_pub = orb_advertise(ORB_ID(tune_control), &tune_control);
-	}else{
-		orb_publish(ORB_ID(tune_control), _tune_control_pub, &tune_control);
-	}
-}
-
-int RC_Loss_Alarm::reset_module(){
-	RC_Loss_Alarm::_was_armed = false;
-	RC_Loss_Alarm::_had_rc = false;
-	RC_Loss_Alarm::stop_tune();
-	return PX4_OK;
-}
-
-// module 'main' command
-extern "C" __EXPORT int rc_loss_alarm_main(int argc, char *argv[]);
-int rc_loss_alarm_main(int argc, char *argv[])
-{
-	return RC_Loss_Alarm::main(argc, argv);
-}