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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Pavel Kirienko
41 lines
830 B
C++
41 lines
830 B
C++
/*
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* Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
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*/
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#pragma once
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#include <uavcan/node/publisher.hpp>
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#include <uavcan/node/timer.hpp>
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#include <uavcan/protocol/Panic.hpp>
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namespace uavcan
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{
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class UAVCAN_EXPORT PanicBroadcaster : private TimerBase
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{
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Publisher<protocol::Panic> pub_;
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protocol::Panic msg_;
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void publishOnce();
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void handleTimerEvent(const TimerEvent&);
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public:
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explicit PanicBroadcaster(INode& node)
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: TimerBase(node)
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, pub_(node)
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{
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pub_.setTxTimeout(MonotonicDuration::fromMSec(protocol::Panic::BROADCASTING_INTERVAL_MS - 10));
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}
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void panic(const char* short_reason);
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void dontPanic(); // Where's my towel
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bool isPanicking() const;
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const typename protocol::Panic::FieldTypes::reason_text& getReason() const;
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};
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}
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