safetybutton.cpp
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/****************************************************************************
*
* Copyright (c) 2019-2021 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.
*
****************************************************************************/
/**
* @author CUAVcaijie <caijie@cuav.net>
*/
#include "safetybutton.hpp"
#include <cstdint>
#include <drivers/drv_hrt.h>
#include <systemlib/err.h>
#include <mathlib/mathlib.h>
using namespace time_literals;
const char *const UavcanSafetyBridge::NAME = "safety";
UavcanSafetyBridge::UavcanSafetyBridge(uavcan::INode &node) :
_node(node),
_sub_safety(node),
_pub_safety(node)
{
}
int UavcanSafetyBridge::init()
{
int res = _pub_safety.init(uavcan::TransferPriority::MiddleLower);
if (res < 0) {
printf("safety pub failed %i", res);
return res;
}
res = _sub_safety.start(SafetyCommandCbBinder(this, &UavcanSafetyBridge::safety_sub_cb));
if (res < 0) {
printf("safety pub failed %i", res);
return res;
}
return 0;
}
unsigned UavcanSafetyBridge::get_num_redundant_channels() const
{
return 0;
}
void UavcanSafetyBridge::print_status() const
{
}
void UavcanSafetyBridge::safety_sub_cb(const uavcan::ReceivedDataStructure<ardupilot::indication::Button> &msg)
{
if (msg.press_time > 10 && msg.button == 1) {
if (_safety_disabled) { return; }
_safety_disabled = true;
} else {
_safety_disabled = false;
}
}