SafetyButton.hpp
3.08 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
/****************************************************************************
*
* Copyright (c) 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.
*
****************************************************************************/
#pragma once
#include "UavcanPublisherBase.hpp"
#include <ardupilot/indication/Button.hpp>
#include <uORB/SubscriptionCallback.hpp>
#include <uORB/topics/safety.h>
namespace uavcannode
{
class SafetyButton :
public UavcanPublisherBase,
public uORB::SubscriptionCallbackWorkItem,
private uavcan::Publisher<ardupilot::indication::Button>
{
public:
SafetyButton(px4::WorkItem *work_item, uavcan::INode &node) :
UavcanPublisherBase(ardupilot::indication::Button::DefaultDataTypeID),
uORB::SubscriptionCallbackWorkItem(work_item, ORB_ID(safety)),
uavcan::Publisher<ardupilot::indication::Button>(node)
{}
void PrintInfo() override
{
if (uORB::SubscriptionCallbackWorkItem::advertised()) {
printf("\t%s -> %s:%d\n",
uORB::SubscriptionCallbackWorkItem::get_topic()->o_name,
ardupilot::indication::Button::getDataTypeFullName(),
ardupilot::indication::Button::DefaultDataTypeID);
}
}
void BroadcastAnyUpdates() override
{
// safety -> standard::indication::button
safety_s safety;
if (uORB::SubscriptionCallbackWorkItem::update(&safety)) {
if (safety.safety_switch_available) {
ardupilot::indication::Button Button{};
Button.button = ardupilot::indication::Button::BUTTON_SAFETY;
Button.press_time = safety.safety_off ? UINT8_MAX : 0;
uavcan::Publisher<ardupilot::indication::Button>::broadcast(Button);
}
}
}
};
} // namespace uavcannode