NavioSysRCInput.hpp
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/****************************************************************************
*
* Copyright (C) 2015 Mark Charlebois. All rights reserved.
* Copyright (C) 2016 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 <px4_platform_common/px4_config.h>
#include <px4_platform_common/atomic.h>
#include <px4_platform_common/defines.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <drivers/drv_hrt.h>
#include <lib/perf/perf_counter.h>
#include <uORB/PublicationMulti.hpp>
#include <uORB/topics/input_rc.h>
namespace navio_sysfs_rc_in
{
class NavioSysRCInput : public px4::ScheduledWorkItem
{
public:
NavioSysRCInput();
~NavioSysRCInput() override;
/* @return 0 on success, -errno on failure */
int start();
/* @return 0 on success, -errno on failure */
void stop();
int print_status();
bool isRunning() { return _isRunning; }
private:
void Run() override;
int navio_rc_init();
px4::atomic_bool _should_exit{false};
bool _isRunning{false};
uORB::PublicationMulti<input_rc_s> _input_rc_pub{ORB_ID(input_rc)};
static constexpr int CHANNELS{14};
int _channel_fd[CHANNELS] {};
int _connected_fd{-1};
bool _connected{false};
perf_counter_t _publish_interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": publish interval")};
};
}; // namespace navio_sysfs_rc_in