hardpoint.cpp
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/****************************************************************************
*
* Copyright (C) 2014 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 hardpoint.cpp
*
* @author Andreas Jochum <Andreas@NicaDrone.com>
*/
#include "hardpoint.hpp"
#include <systemlib/err.h>
UavcanHardpointController::UavcanHardpointController(uavcan::INode &node) :
_node(node),
_uavcan_pub_raw_cmd(node),
_timer(node)
{
_uavcan_pub_raw_cmd.setPriority(uavcan::TransferPriority::MiddleLower);
}
UavcanHardpointController::~UavcanHardpointController()
{
}
int
UavcanHardpointController::init()
{
/*
* Setup timer and call back function for periodic updates
*/
_timer.setCallback(TimerCbBinder(this, &UavcanHardpointController::periodic_update));
return 0;
}
void
UavcanHardpointController::set_command(uint8_t hardpoint_id, uint16_t command)
{
_cmd.command = command;
_cmd.hardpoint_id = hardpoint_id;
/*
* Publish the command message to the bus
*/
_uavcan_pub_raw_cmd.broadcast(_cmd);
/*
* Start the periodic update timer after a command is set
*/
if (!_timer.isRunning()) {
_timer.startPeriodic(uavcan::MonotonicDuration::fromMSec(1000 / MAX_RATE_HZ));
}
}
void
UavcanHardpointController::periodic_update(const uavcan::TimerEvent &)
{
// Broadcast command at MAX_RATE_HZ
_uavcan_pub_raw_cmd.broadcast(_cmd);
}