BeepCommand.hpp
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/****************************************************************************
*
* 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 "UavcanSubscriberBase.hpp"
#include <uavcan/equipment/indication/BeepCommand.hpp>
#include <uORB/Publication.hpp>
#include <uORB/topics/tune_control.h>
namespace uavcannode
{
class BeepCommand;
typedef uavcan::MethodBinder<BeepCommand *,
void (BeepCommand::*)(const uavcan::ReceivedDataStructure<uavcan::equipment::indication::BeepCommand>&)>
BeepcommandBinder;
class BeepCommand :
public UavcanSubscriberBase,
private uavcan::Subscriber<uavcan::equipment::indication::BeepCommand, BeepcommandBinder>
{
public:
BeepCommand(uavcan::INode &node) :
UavcanSubscriberBase(uavcan::equipment::indication::BeepCommand::DefaultDataTypeID),
uavcan::Subscriber<uavcan::equipment::indication::BeepCommand, BeepcommandBinder>(node)
{}
bool init()
{
if (start(BeepcommandBinder(this, &BeepCommand::callback)) < 0) {
PX4_ERR("uavcan::equipment::indication::BeepCommand subscription failed");
return false;
}
return true;
}
void PrintInfo() const override
{
printf("\t%s:%d -> %s\n",
uavcan::equipment::indication::BeepCommand::getDataTypeFullName(),
uavcan::equipment::indication::BeepCommand::DefaultDataTypeID,
_tune_control_pub.get_topic()->o_name);
}
private:
void callback(const uavcan::ReceivedDataStructure<uavcan::equipment::indication::BeepCommand> &msg)
{
tune_control_s tune_control{};
tune_control.tune_id = 0;
tune_control.frequency = (uint16_t)msg.frequency;
tune_control.duration = uavcan::uint32_t(1000000 * msg.duration);
tune_control.volume = 0xff;
tune_control.timestamp = hrt_absolute_time();
_tune_control_pub.publish(tune_control);
}
uORB::Publication<tune_control_s> _tune_control_pub{ORB_ID(tune_control)};
};
} // namespace uavcannode