Added parameters for enabling/disabling specific event tasks

src/modules/events/events_params.c

+/****************************************************************************
+ *
+ *   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 events_params.c
+ *
+ * Parameters defined by the events module.
+ */
+
+#include <px4_config.h>
+#include <parameters/param.h>
+
+/**
+ * Status Display
+ *
+ * Enable/disable event task for displaying the vehicle status using arm-mounted
+ * LEDs. When enabled and if the vehicle supports it, LEDs will flash
+ * indicating various vehicle status changes. Currently PX4 has not implemented
+ * any specific status events.
+ * -
+ *
+ * @group Events
+ * @boolean
+ * @reboot_required true
+ * @value 0 OFF
+ * @value 1 ON
+ */
+PARAM_DEFINE_INT32(EV_TSK_STAT_DIS, 0);
+
+/**
+ * RC Loss Alarm
+ *
+ * Enable/disable event task for RC Loss. When enabled, an alarm tune will be
+ * played via buzzer or ESCs, if supported.
+ *
+ * @group Events
+ * @boolean
+ * @reboot_required true
+ * @value 0 OFF
+ * @value 1 ON
+ */
+PARAM_DEFINE_INT32(EV_TSK_RC_LOSS, 0);

src/modules/events/send_event.cpp

@@ -66,9 +66,26 @@ int SendEvent::task_spawn(int argc, char *argv[])
 	return 0;
 }
 
-SendEvent::SendEvent()
-	: _status_display(_subscriber_handler), _rc_loss_alarm(_subscriber_handler)
+SendEvent::SendEvent() : ModuleParams(nullptr)
 {
+	if (_param_status_display.get()) {
+		_status_display = new status::StatusDisplay(_subscriber_handler);
+	}
+
+	if (_param_rc_loss.get()) {
+		_rc_loss_alarm = new rc_loss::RC_Loss_Alarm(_subscriber_handler);
+	}
+}
+
+SendEvent::~SendEvent()
+{
+	if (_status_display != nullptr) {
+		delete _status_display;
+	}
+
+	if (_rc_loss_alarm != nullptr) {
+		delete _rc_loss_alarm;
+	}
 }
 
 int SendEvent::start()
@@ -119,8 +136,13 @@ void SendEvent::cycle()
 
 	process_commands();
 
-	_status_display.process();
-	_rc_loss_alarm.process();
+	if (_status_display != nullptr) {
+		_status_display->process();
+	}
+
+	if (_rc_loss_alarm != nullptr) {
+		_rc_loss_alarm->process();
+	}
 
 	work_queue(LPWORK, &_work, (worker_t)&SendEvent::cycle_trampoline, this,
 		   USEC2TICK(SEND_EVENT_INTERVAL_US));

src/modules/events/send_event.h

@@ -39,6 +39,7 @@
 
 #include <px4_workqueue.h>
 #include <px4_module.h>
+#include <px4_module_params.h>
 #include <uORB/topics/vehicle_command.h>
 #include <uORB/topics/vehicle_command_ack.h>
 
@@ -47,10 +48,11 @@ namespace events
 
 extern "C" __EXPORT int send_event_main(int argc, char *argv[]);
 
-class SendEvent : public ModuleBase<SendEvent>
+class SendEvent : public ModuleBase<SendEvent>, public ModuleParams
 {
 public:
 	SendEvent();
+	~SendEvent();
 
 	/**
 	 * Initialize class in the same context as the work queue. And start the background listener.
@@ -87,9 +89,14 @@ private:
 
 	static struct work_s _work;
 	SubscriberHandler _subscriber_handler;
-	status::StatusDisplay _status_display;
-	rc_loss::RC_Loss_Alarm _rc_loss_alarm;
+	status::StatusDisplay *_status_display = nullptr;
+	rc_loss::RC_Loss_Alarm *_rc_loss_alarm = nullptr;
 	orb_advert_t _command_ack_pub = nullptr;
+
+	DEFINE_PARAMETERS(
+		(ParamBool<px4::params::EV_TSK_STAT_DIS>) _param_status_display,
+		(ParamBool<px4::params::EV_TSK_RC_LOSS>) _param_rc_loss
+	)
 };
 
 } /* namespace events */