CUAV CAN GPS support UAVCAN standard/indication/Button.uavcan

Co-authored-by: Daniel Agar <daniel@agar.ca>

src/drivers/uavcannode/CMakeLists.txt

@@ -94,7 +94,12 @@ target_include_directories(uavcan_${UAVCAN_DRIVER}_driver PUBLIC
 
 
 # generated DSDL
-set(DSDLC_INPUTS "${PX4_SOURCE_DIR}/src/drivers/uavcan/dsdl/com" "${LIBUAVCAN_DIR}/dsdl/uavcan")
+set(DSDLC_DIR "${PX4_SOURCE_DIR}/src/drivers/uavcan/dsdl")
+set(DSDLC_INPUTS
+	"${DSDLC_DIR}/com"
+	"${DSDLC_DIR}/standard"
+	"${LIBUAVCAN_DIR}/dsdl/uavcan"
+)
 set(DSDLC_OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/include/dsdlc_generated")
 
 set(DSDLC_INPUT_FILES)

src/drivers/uavcannode/UavcanNode.cpp

@@ -83,6 +83,7 @@ UavcanNode::UavcanNode(uavcan::ICanDriver &can_driver, uavcan::ISystemClock &sys
 	_raw_air_data_publisher(_node),
 	_range_sensor_measurement(_node),
 	_flow_measurement_publisher(_node),
+	_indication_button_publisher(_node),
 	_param_server(_node),
 	_cycle_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle time")),
 	_interval_perf(perf_alloc(PC_INTERVAL, MODULE_NAME": cycle interval")),
@@ -521,6 +522,20 @@ void UavcanNode::Run()
 		}
 	}
 
+	// safety -> standard::indication::button
+	if (_safety_sub.updated()) {
+		safety_s safety;
+
+		if (_safety_sub.copy(&safety)) {
+			if (safety.safety_switch_available) {
+				standard::indication::Button Button{};
+				Button.button = standard::indication::Button::BUTTON_SAFETY;
+				Button.press_time = safety.safety_off ? UINT8_MAX : 0;
+				_indication_button_publisher.broadcast(Button);
+			}
+		}
+	}
+
 	perf_end(_cycle_perf);
 
 	pthread_mutex_unlock(&_node_mutex);

src/drivers/uavcannode/UavcanNode.hpp

@@ -66,6 +66,7 @@
 #include <uavcan/equipment/power/BatteryInfo.hpp>
 #include <uavcan/equipment/range_sensor/Measurement.hpp>
 
+#include <standard/indication/Button.hpp>
 #include <com/hex/equipment/flow/Measurement.hpp>
 
 #include <lib/parameters/param.h>
@@ -78,6 +79,7 @@
 #include <uORB/topics/differential_pressure.h>
 #include <uORB/topics/distance_sensor.h>
 #include <uORB/topics/optical_flow.h>
+#include <uORB/topics/safety.h>
 #include <uORB/topics/sensor_baro.h>
 #include <uORB/topics/sensor_mag.h>
 #include <uORB/topics/sensor_gps.h>
@@ -182,6 +184,7 @@ private:
 	uavcan::Publisher<uavcan::equipment::air_data::RawAirData> _raw_air_data_publisher;
 	uavcan::Publisher<uavcan::equipment::range_sensor::Measurement> _range_sensor_measurement;
 	uavcan::Publisher<com::hex::equipment::flow::Measurement> _flow_measurement_publisher;
+	uavcan::Publisher<standard::indication::Button> _indication_button_publisher;
 
 	hrt_abstime _last_static_temperature_publish{0};
 
@@ -197,6 +200,7 @@ private:
 		{this, ORB_ID(distance_sensor), 3},
 	};
 	uORB::SubscriptionCallbackWorkItem _optical_flow_sub{this, ORB_ID(optical_flow)};
+	uORB::SubscriptionCallbackWorkItem _safety_sub{this, ORB_ID(safety)};
 	uORB::SubscriptionCallbackWorkItem _sensor_baro_sub{this, ORB_ID(sensor_baro)};
 	uORB::SubscriptionCallbackWorkItem _sensor_mag_sub{this, ORB_ID(sensor_mag)};
 	uORB::SubscriptionCallbackWorkItem _sensor_gps_sub{this, ORB_ID(sensor_gps)};