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158 lines
4.3 KiB
C++
158 lines
4.3 KiB
C++
/****************************************************************************
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*
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* Copyright (C) 2015 PX4 Development Team. All rights reserved.
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* Author: Pavel Kirienko <pavel.kirienko@gmail.com>
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* David Sidrane<david_s5@nscdg.com>
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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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#include <px4_config.h>
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#include <syslog.h>
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#include <systemlib/systemlib.h>
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#include "sim_controller.hpp"
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#include <uavcan/equipment/esc/RawCommand.hpp>
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#include <uavcan/equipment/esc/RPMCommand.hpp>
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#include <uavcan/equipment/esc/Status.hpp>
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#include "led.hpp"
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uavcan::Publisher<uavcan::equipment::esc::Status> *pub_status;
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namespace
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{
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unsigned self_index = 0;
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int rpm = 0;
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static void cb_raw_command(const uavcan::ReceivedDataStructure<uavcan::equipment::esc::RawCommand> &msg)
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{
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if (msg.cmd.size() <= self_index) {
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rgb_led(0, 0, 0, 0);
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return;
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}
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const float scaled = msg.cmd[self_index] / float(
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uavcan::equipment::esc::RawCommand::FieldTypes::cmd::RawValueType::max());
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static int c = 0;
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if (c++ % 100 == 0) {
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::syslog(LOG_INFO, "scaled:%d\n", (int)scaled);
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}
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if (scaled > 0) {
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} else {
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}
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}
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static void cb_rpm_command(const uavcan::ReceivedDataStructure<uavcan::equipment::esc::RPMCommand> &msg)
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{
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if (msg.rpm.size() <= self_index) {
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return;
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}
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rpm = msg.rpm[self_index];
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static int c = 0;
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if (c++ % 100 == 0) {
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::syslog(LOG_INFO, "rpm:%d\n", rpm);
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}
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if (rpm > 0) {
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rgb_led(255, 0, 0, rpm);
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} else {
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rgb_led(0, 0, 0, 0);
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}
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}
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void cb_10Hz(const uavcan::TimerEvent &event)
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{
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uavcan::equipment::esc::Status msg;
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msg.esc_index = self_index;
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msg.rpm = rpm;
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msg.voltage = 3.3F;
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msg.current = 0.001F;
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msg.temperature = 24.0F;
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msg.power_rating_pct = static_cast<unsigned>(.5F * 100 + 0.5F);
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msg.error_count = 0;
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if (rpm != 0) {
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// Lower the publish rate to 1Hz if the motor is not running
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static uavcan::MonotonicTime prev_pub_ts;
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if ((event.scheduled_time - prev_pub_ts).toMSec() >= 990) {
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prev_pub_ts = event.scheduled_time;
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pub_status->broadcast(msg);
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}
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} else {
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pub_status->broadcast(msg);
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}
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}
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}
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int init_sim_controller(uavcan::INode &node)
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{
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typedef void (*cb)(const uavcan::TimerEvent &);
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static uavcan::Subscriber<uavcan::equipment::esc::RawCommand> sub_raw_command(node);
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static uavcan::Subscriber<uavcan::equipment::esc::RPMCommand> sub_rpm_command(node);
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static uavcan::TimerEventForwarder<cb> timer_10hz(node);
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self_index = 0;
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int res = 0;
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res = sub_raw_command.start(cb_raw_command);
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if (res != 0) {
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return res;
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}
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res = sub_rpm_command.start(cb_rpm_command);
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if (res != 0) {
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return res;
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}
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pub_status = new uavcan::Publisher<uavcan::equipment::esc::Status>(node);
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res = pub_status->init();
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if (res != 0) {
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return res;
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}
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timer_10hz.setCallback(&cb_10Hz);
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timer_10hz.startPeriodic(uavcan::MonotonicDuration::fromMSec(100));
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return 0;
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}
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