hardpoint.hpp
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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.hpp
*
* @author Andreas Jochum <Andreas@NicaDrone.com>
*/
#pragma once
#include <uavcan/uavcan.hpp>
#include <uavcan/equipment/hardpoint/Command.hpp>
#include <uavcan/equipment/hardpoint/Status.hpp>
#include <perf/perf_counter.h>
/**
* @brief The UavcanHardpointController class
*/
class UavcanHardpointController
{
public:
UavcanHardpointController(uavcan::INode &node);
~UavcanHardpointController();
/*
* setup periodic updater
*/
int init();
/*
* set command
*/
void set_command(uint8_t hardpoint_id, uint16_t command);
private:
/*
* Max update rate to avoid exessive bus traffic
*/
static constexpr unsigned MAX_RATE_HZ = 1; ///< XXX make this configurable
uavcan::equipment::hardpoint::Command _cmd;
void periodic_update(const uavcan::TimerEvent &);
typedef uavcan::MethodBinder<UavcanHardpointController *, void (UavcanHardpointController::*)(const uavcan::TimerEvent &)>
TimerCbBinder;
pthread_mutex_t _node_mutex;
/*
* libuavcan related things
*/
uavcan::INode &_node;
uavcan::Publisher<uavcan::equipment::hardpoint::Command> _uavcan_pub_raw_cmd;
uavcan::TimerEventForwarder<TimerCbBinder> _timer;
};