safety and safety button: refactoring #19413

src/modules/commander/Safety.cpp

@@ -0,0 +1,80 @@
+/****************************************************************************
+ *
+ *   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 Safety.cpp
+ */
+
+#include "Safety.hpp"
+#include <circuit_breaker/circuit_breaker.h>
+
+using namespace time_literals;
+
+Safety::Safety()
+{
+	/*
+	 * Safety can be turned off with the CBRK_IO_SAFETY parameter.
+	 */
+	_safety_disabled = circuit_breaker_enabled("CBRK_IO_SAFETY", CBRK_IO_SAFETY_KEY);
+}
+
+void Safety::safetyButtonHandler()
+{
+	if (_safety_disabled) {
+		_safety.safety_switch_available = true;
+		_safety.safety_off = true;
+
+	} else {
+
+		button_event_s button_event;
+
+		while (_safety_button_sub.update(&button_event)) {
+			_safety.safety_switch_available = true;
+			_safety.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);
+	}
+
+	_previous_safety_off = _safety.safety_off;
+}
+
+void Safety::enableSafety()
+{
+	_safety.safety_off = false;
+}