From fb4db49ea0ddffa0a84fbd473fe82dd53598b846 Mon Sep 17 00:00:00 2001 From: blah Date: Tue, 19 Jan 2016 11:57:19 -0800 Subject: [PATCH] Added Hardpoint controller to UAVCAN for OpenGrab EPM support periodic update timer is broken needs fixing --- src/modules/uavcan/actuators/hardpoint.cpp | 87 ++++++++++++++++++++++ src/modules/uavcan/actuators/hardpoint.hpp | 86 +++++++++++++++++++++ 2 files changed, 173 insertions(+) create mode 100644 src/modules/uavcan/actuators/hardpoint.cpp create mode 100644 src/modules/uavcan/actuators/hardpoint.hpp diff --git a/src/modules/uavcan/actuators/hardpoint.cpp b/src/modules/uavcan/actuators/hardpoint.cpp new file mode 100644 index 0000000000..828ad90245 --- /dev/null +++ b/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 + */ + +#include "hardpoint.hpp" +#include + + +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 +} diff --git a/src/modules/uavcan/actuators/hardpoint.hpp b/src/modules/uavcan/actuators/hardpoint.hpp new file mode 100644 index 0000000000..b245330825 --- /dev/null +++ b/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 + */ + +#pragma once + +#include +#include +#include +#include +//#include + + +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 + 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_pub_raw_cmd; + // uavcan::Subscriber _uavcan_sub_status; + uavcan::TimerEventForwarder _timer; + +};