Added Hardpoint controller to UAVCAN for OpenGrab EPM support

periodic update timer is broken needs fixing

src/modules/uavcan/actuators/hardpoint.cpp

@@ -0,0 +1,87 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2014 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 hardpoint.cpp
+ *
+ * @author Andreas Jochum <Andreas@NicaDrone.com>
+ */
+
+#include "hardpoint.hpp"
+#include <systemlib/err.h>
+
+
+UavcanHardpointController::~UavcanHardpointController()
+{
+
+}
+
+int UavcanHardpointController::init()
+{
+	_timer.setCallback(TimerCbBinder(this, &UavcanHardpointController::periodic_update));
+	_timer.startPeriodic(uavcan::MonotonicDuration::fromMSec(1000 / MAX_RATE_HZ));
+	return 0;
+}
+
+void UavcanHardpointController::set_command(uint8_t hardpoint_id, uint16_t command)
+{
+
+	_cmd.command = command;
+	_cmd.hardpoint_id = hardpoint_id;
+	_cmd_set = true;
+    /*
+     * Rate limiting - we don't want to congest the bus
+     */
+    const auto timestamp = _node.getMonotonicTime();
+
+    if ((timestamp - _prev_cmd_pub).toUSec() < (1000000 / MAX_RATE_HZ)) {
+        return;
+    }
+
+    _prev_cmd_pub = timestamp;
+
+    /*
+     * Publish the command message to the bus
+     */
+	(void)_uavcan_pub_raw_cmd.broadcast(_cmd);
+}
+void UavcanHardpointController::periodic_update()
+{
+	//lets not broadcast if command is not set
+	if(_cmd_set == false){
+		return;
+	}
+
+	(void)_uavcan_pub_raw_cmd.broadcast(_cmd);
+	//do something
+}

src/modules/uavcan/actuators/hardpoint.hpp

@@ -0,0 +1,86 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2014 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 hardpoint.hpp
+ *
+ *
+ * @author Andreas Jochum <Andreas@NicaDrone.com>
+ */
+
+#pragma once
+
+#include <uavcan/uavcan.hpp>
+#include <uavcan/equipment/hardpoint/Command.hpp>
+#include <uavcan/equipment/hardpoint/Status.hpp>
+#include <systemlib/perf_counter.h>
+//#include <uORB/topics/esc_status.h>
+
+
+class UavcanHardpointController
+{
+public:
+	UavcanHardpointController(uavcan::INode &node);
+	~UavcanHardpointController();
+
+	int init();
+
+	void set_command(uint8_t hardpoint_id, uint16_t command);
+
+private:
+
+	static constexpr unsigned MAX_RATE_HZ = 1;			///< XXX make this configurable
+
+
+	uavcan::equipment::hardpoint::Command _cmd;
+
+	bool _cmd_set = false;
+
+	void UavcanHardpointController::periodic_update();
+
+	typedef uavcan::MethodBinder<UavcanHardpointController *, void (UavcanHardpointController::*)(const uavcan::TimerEvent &)>
+	TimerCbBinder;
+
+	//    hardpoint_status_s	_hardpoint_status = {};
+	orb_advert_t	_hardpoint_status_pub = nullptr;
+
+	/*
+	 * libuavcan related things
+	 */
+	uavcan::MonotonicTime							_prev_cmd_pub;   ///< rate limiting
+	uavcan::INode								&_node;
+	uavcan::Publisher<uavcan::equipment::hardpoint::Command>			_uavcan_pub_raw_cmd;
+	//	uavcan::Subscriber<uavcan::equipment::hardpoint::Status, StatusCbBinder>	_uavcan_sub_status;
+	uavcan::TimerEventForwarder<TimerCbBinder>				_timer;
+
+};