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/**
 * @file safety_state.cpp
 *
 * @author CUAVcaijie <caijie@cuav.net>
 */

#include "safety_state.hpp"

UavcanSafetyState::UavcanSafetyState(uavcan::INode &node) :
	_safety_state_pub(node),
	_timer(node)
{
	_safety_state_pub.setPriority(uavcan::TransferPriority::Default);
}

int UavcanSafetyState::init()
{
	/*
	 * Setup timer and call back function for periodic updates
	 */
	if (!_timer.isRunning()) {
		_timer.setCallback(TimerCbBinder(this, &UavcanSafetyState::periodic_update));
		_timer.startPeriodic(uavcan::MonotonicDuration::fromMSec(1000 / MAX_RATE_HZ));
	}

	return 0;
}

void UavcanSafetyState::periodic_update(const uavcan::TimerEvent &)
{
	actuator_armed_s actuator_armed;

	if (_actuator_armed_sub.update(&actuator_armed)) {
		ardupilot::indication::SafetyState cmd;

		if (actuator_armed.armed || actuator_armed.prearmed) {
			cmd.status = cmd.STATUS_SAFETY_OFF;

		} else {
			cmd.status = cmd.STATUS_SAFETY_ON;
		}

		(void)_safety_state_pub.broadcast(cmd);
	}
}