safetybutton.hpp
2.95 KB
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/****************************************************************************
*
* Copyright (c) 2020-2021 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>
*/
#pragma once
#include <uORB/Subscription.hpp>
#include <uORB/PublicationMulti.hpp>
#include <uORB/topics/safety.h>
#include <uavcan/uavcan.hpp>
#include <ardupilot/indication/Button.hpp>
#include "sensor_bridge.hpp"
class UavcanSafetyBridge : public IUavcanSensorBridge
{
public:
static const char *const NAME;
UavcanSafetyBridge(uavcan::INode &node);
~UavcanSafetyBridge() = default;
const char *get_name() const override { return NAME; }
int init() override;
unsigned get_num_redundant_channels() const override;
void print_status() const override;
private:
safety_s _safety{}; //
bool _safety_disabled{false};
bool _safety_btn_off{false}; ///< State of the safety button read from the HW button
void safety_sub_cb(const uavcan::ReceivedDataStructure<ardupilot::indication::Button> &msg);
typedef uavcan::MethodBinder < UavcanSafetyBridge *,
void (UavcanSafetyBridge::*)(const uavcan::ReceivedDataStructure<ardupilot::indication::Button> &) >
SafetyCommandCbBinder;
uavcan::INode &_node;
uavcan::Subscriber<ardupilot::indication::Button, SafetyCommandCbBinder> _sub_safety;
uavcan::Publisher<ardupilot::indication::Button> _pub_safety;
uORB::PublicationMulti<safety_s> _safety_pub{ORB_ID(safety)};
};