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safety and safety button: refactoring #19413

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This commit is contained in:
Igor Misic
2022-04-05 07:57:37 +02:00
committed by Beat Küng
parent 1f17a1470a
commit 80aef942cd
20 changed files with 446 additions and 128 deletions
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src/drivers/safety_button/SafetyButton.hpp
+12 -31
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@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2012-2019 PX4 Development Team. All rights reserved.
* Copyright (c) 2012-2022 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
@@ -35,20 +35,10 @@
#include <float.h>
#include <circuit_breaker/circuit_breaker.h>
#include <drivers/drv_hrt.h>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/log.h>
#include <px4_platform_common/module.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <uORB/Publication.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/safety.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/led_control.h>
#include <uORB/topics/tune_control.h>
#include <button/ButtonPublisher.hpp>
class SafetyButton : public ModuleBase<SafetyButton>, public px4::ScheduledWorkItem
{
@@ -65,34 +55,25 @@ public:
/** @see ModuleBase */
static int print_usage(const char *reason = nullptr);
/** @see ModuleBase::print_status() */
int print_status() override;
int Start();
private:
void Run() override;
void CheckButton();
void FlashButton();
void CheckSafetyRequest(bool button_pressed);
void CheckPairingRequest(bool button_pressed);
void FlashButton();
uORB::Subscription _armed_sub{ORB_ID(actuator_armed)};
uORB::Publication<safety_s> _to_safety{ORB_ID(safety)};
uORB::Publication<vehicle_command_s> _to_command{ORB_ID(vehicle_command)};
uORB::Publication<led_control_s> _to_led_control{ORB_ID(led_control)};
uORB::Publication<tune_control_s> _to_tune_control{ORB_ID(tune_control)};
safety_s _safety{};
uint8_t _button_counter{0};
uint8_t _blink_counter{0};
bool _safety_disabled{false}; ///< circuit breaker to disable the safety button
bool _safety_btn_off{false}; ///< State of the safety button read from the HW button
bool _safety_btn_prev_sate{false}; ///< Previous state of the HW button
bool _has_px4io{false};
ButtonPublisher _button_publisher;
uint8_t _button_counter{0};
uint8_t _blink_counter{0};
bool _button_prev_sate{false}; ///< Previous state of the HW button
// Pairing request
hrt_abstime _pairing_start{0};
int _pairing_button_counter{0};
int _pairing_button_counter{0};
uORB::Subscription _armed_sub{ORB_ID(actuator_armed)};
};