mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-06 06:10:35 +08:00
Pavel Kirienko
91 lines
2.9 KiB
C++
91 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.cpp
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*
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* @author Andreas Jochum <Andreas@NicaDrone.com>
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*/
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#include "hardpoint.hpp"
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#include <systemlib/err.h>
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UavcanHardpointController::UavcanHardpointController(uavcan::INode &node) :
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_node(node),
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_uavcan_pub_raw_cmd(node),
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_timer(node)
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{
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_uavcan_pub_raw_cmd.setPriority(uavcan::TransferPriority::MiddleLower);
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}
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UavcanHardpointController::~UavcanHardpointController()
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{
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}
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int UavcanHardpointController::init()
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{
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/*
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* Setup timer and call back function for periodic updates
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*/
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_timer.setCallback(TimerCbBinder(this, &UavcanHardpointController::periodic_update));
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return 0;
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}
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void UavcanHardpointController::set_command(uint8_t hardpoint_id, uint16_t command)
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{
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_cmd.command = command;
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_cmd.hardpoint_id = hardpoint_id;
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/*
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* Publish the command message to the bus
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*/
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(void)_uavcan_pub_raw_cmd.broadcast(_cmd);
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/*
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* Start the periodic update timer after a command is set
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*/
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if (!_timer.isRunning()) {
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_timer.startPeriodic(uavcan::MonotonicDuration::fromMSec(1000 / MAX_RATE_HZ));
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}
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}
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void UavcanHardpointController::periodic_update(const uavcan::TimerEvent &)
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{
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/*
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* Broadcast command at MAX_RATE_HZ
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*/
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(void)_uavcan_pub_raw_cmd.broadcast(_cmd);
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}
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