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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Beat Küng
74 lines
2.9 KiB
C++
74 lines
2.9 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2021 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#pragma once
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#include "functions.hpp"
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#include <drivers/drv_pwm_output.h>
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#include <uORB/topics/actuator_test.h>
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#include <uORB/Subscription.hpp>
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static_assert(actuator_test_s::FUNCTION_MOTOR1 == (int)OutputFunction::Motor1, "define mismatch");
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static_assert(actuator_test_s::MAX_NUM_MOTORS == (int)OutputFunction::MotorMax - (int)OutputFunction::Motor1 + 1,
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"count mismatch");
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static_assert(actuator_test_s::FUNCTION_SERVO1 == (int)OutputFunction::Servo1, "define mismatch");
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static_assert(actuator_test_s::MAX_NUM_SERVOS == (int)OutputFunction::ServoMax - (int)OutputFunction::Servo1 + 1,
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"count mismatch");
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class ActuatorTest
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{
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public:
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static constexpr int MAX_ACTUATORS = PWM_OUTPUT_MAX_CHANNELS;
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ActuatorTest(const OutputFunction function_assignments[MAX_ACTUATORS]);
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void reset();
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void update(int num_outputs, bool reversible_motors);
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void overrideValues(float outputs[MAX_ACTUATORS], int num_outputs);
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bool inTestMode() const { return _in_test_mode; }
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private:
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uORB::Subscription _actuator_test_sub{ORB_ID(actuator_test)};
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bool _in_test_mode{false};
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hrt_abstime _next_timeout{0};
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float _current_outputs[MAX_ACTUATORS];
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bool _output_overridden[MAX_ACTUATORS];
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const OutputFunction *_function_assignments;
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};
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