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commander/safety: replace safety.msg with Safety class (#19558)

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This commit is contained in:
Igor Misic
2022-05-20 16:17:22 +02:00
committed by Beat Küng
parent b800600a6c
commit 08dcc72e1f
15 changed files with 106 additions and 126 deletions
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src/modules/commander/Safety.cpp
+14 -15
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@@ -48,36 +48,35 @@ Safety::Safety()
_safety_disabled = circuit_breaker_enabled("CBRK_IO_SAFETY", CBRK_IO_SAFETY_KEY);
}
void Safety::safetyButtonHandler()
bool Safety::safetyButtonHandler()
{
if (_safety_disabled) {
_safety.safety_switch_available = true;
_safety.safety_off = true;
_button_available = true;
_safety_off = true;
} else {
if (!_safety.safety_switch_available && _safety_button_sub.advertised()) {
_safety.safety_switch_available = true;
if (!_button_available && _safety_button_sub.advertised()) {
_button_available = true;
}
button_event_s button_event;
while (_safety_button_sub.update(&button_event)) {
_safety.safety_off |= button_event.triggered; // triggered safety button activates safety off
_safety_off |= button_event.triggered; // triggered safety button activates safety off
}
}
// publish immediately on change, otherwise at 1 Hz for logging
if ((hrt_elapsed_time(&_safety.timestamp) >= 1_s) ||
(_safety.safety_off != _previous_safety_off)) {
_safety.timestamp = hrt_absolute_time();
_safety_pub.publish(_safety);
}
bool safety_changed = _previous_safety_off != _safety_off;
_previous_safety_off = _safety.safety_off;
_previous_safety_off = _safety_off;
return safety_changed;
}
void Safety::enableSafety()
void Safety::activateSafety()
{
_safety.safety_off = false;
if (!_safety_disabled) {
_safety_off = false;
}
}