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90 lines
2.9 KiB
C++
90 lines
2.9 KiB
C++
/****************************************************************************
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*
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* Copyright (C) 2014 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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/**
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* @file hardpoint.hpp
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*
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* @author Andreas Jochum <Andreas@NicaDrone.com>
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*/
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#pragma once
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#include <uavcan/uavcan.hpp>
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#include <uavcan/equipment/hardpoint/Command.hpp>
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#include <uavcan/equipment/hardpoint/Status.hpp>
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#include <perf/perf_counter.h>
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/**
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* @brief The UavcanHardpointController class
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*/
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class UavcanHardpointController
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{
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public:
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UavcanHardpointController(uavcan::INode &node);
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~UavcanHardpointController();
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/*
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* setup periodic updater
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*/
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int init();
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/*
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* set command
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*/
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void set_command(uint8_t hardpoint_id, uint16_t command);
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private:
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/*
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* Max update rate to avoid exessive bus traffic
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*/
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static constexpr unsigned MAX_RATE_HZ = 1; ///< XXX make this configurable
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uavcan::equipment::hardpoint::Command _cmd;
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void periodic_update(const uavcan::TimerEvent &);
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typedef uavcan::MethodBinder<UavcanHardpointController *, void (UavcanHardpointController::*)(const uavcan::TimerEvent &)>
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TimerCbBinder;
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pthread_mutex_t _node_mutex;
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/*
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* libuavcan related things
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*/
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uavcan::INode &_node;
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uavcan::Publisher<uavcan::equipment::hardpoint::Command> _uavcan_pub_raw_cmd;
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uavcan::TimerEventForwarder<TimerCbBinder> _timer;
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};
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