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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/lib/CMakeLists.txt
+1
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@@ -35,6 +35,7 @@ add_subdirectory(airspeed)
add_subdirectory(avoidance)
add_subdirectory(battery)
add_subdirectory(bezier)
add_subdirectory(button)
add_subdirectory(cdev)
add_subdirectory(circuit_breaker)
add_subdirectory(collision_prevention)
src/lib/button/ButtonPublisher.cpp
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@@ -0,0 +1,84 @@
/****************************************************************************
*
* Copyright (c) 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
* 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.
*
****************************************************************************/
/**
* @file ButtonPublisher.cpp
*
* Library for button functionality.
*
*/
#include <button/ButtonPublisher.hpp>
using namespace time_literals;
ButtonPublisher::ButtonPublisher()
{
_safety_button_pub.advertise();
}
void ButtonPublisher::safetyButtonTriggerEvent()
{
button_event_s safety_button{};
safety_button.triggered = true;
safety_button.timestamp = hrt_absolute_time();
_safety_button_pub.publish(safety_button);
}
void ButtonPublisher::pairingButtonTriggerEvent()
{
vehicle_command_s vcmd{};
vcmd.command = vehicle_command_s::VEHICLE_CMD_START_RX_PAIR;
vcmd.param1 = 10.f; // GCS pairing request handled by a companion.
vcmd.timestamp = hrt_absolute_time();
_vehicle_command_pub.publish(vcmd);
PX4_DEBUG("Sending GCS pairing request");
led_control_s led_control{};
led_control.led_mask = 0xff;
led_control.mode = led_control_s::MODE_BLINK_FAST;
led_control.color = led_control_s::COLOR_GREEN;
led_control.num_blinks = 1;
led_control.priority = 0;
led_control.timestamp = hrt_absolute_time();
_led_control_pub.publish(led_control);
tune_control_s tune_control{};
tune_control.tune_id = tune_control_s::TUNE_ID_NOTIFY_POSITIVE;
tune_control.volume = tune_control_s::VOLUME_LEVEL_DEFAULT;
tune_control.timestamp = hrt_absolute_time();
_tune_control_pub.publish(tune_control);
}
src/lib/button/ButtonPublisher.hpp
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/****************************************************************************
*
* Copyright (c) 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
* 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.
*
****************************************************************************/
/**
* @file ButtonPublisher.hpp
*
* Library for button functionality.
*
*/
#pragma once
#include <drivers/drv_tone_alarm.h>
#include <drivers/drv_hrt.h>
#include <uORB/Publication.hpp>
#include <uORB/PublicationMulti.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/button_event.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/led_control.h>
#include <uORB/topics/tune_control.h>
class ButtonPublisher
{
public:
ButtonPublisher();
~ButtonPublisher() = default;
/**
* Function for publishing safety button trigger event
*/
void safetyButtonTriggerEvent();
/**
* Function for publishing pairing button trigger event
*/
void pairingButtonTriggerEvent();
static constexpr uint8_t PAIRING_BUTTON_EVENT_COUNT{3};
private:
uORB::Publication<button_event_s> _safety_button_pub{ORB_ID(safety_button)};
uORB::Publication<vehicle_command_s> _vehicle_command_pub{ORB_ID(vehicle_command)};
uORB::Publication<led_control_s> _led_control_pub{ORB_ID(led_control)};
uORB::Publication<tune_control_s> _tune_control_pub{ORB_ID(tune_control)};
};
src/lib/button/CMakeLists.txt
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############################################################################
#
# Copyright (c) 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
# 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.
#
############################################################################
px4_add_library(button_publisher ButtonPublisher.cpp)