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79 lines
2.6 KiB
C++
79 lines
2.6 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2022 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 Safety.cpp
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*/
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#include "Safety.hpp"
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#include <circuit_breaker/circuit_breaker.h>
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using namespace time_literals;
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Safety::Safety()
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{
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// Safety can be turned off with the CBRK_IO_SAFETY parameter.
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_safety_disabled = circuit_breaker_enabled("CBRK_IO_SAFETY", CBRK_IO_SAFETY_KEY);
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if (_safety_disabled) {
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_button_available = true;
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_safety_off = true;
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}
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}
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bool Safety::safetyButtonHandler()
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{
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if (!_safety_disabled) {
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if (!_button_available && _safety_button_sub.advertised()) {
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_button_available = true;
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}
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button_event_s button_event;
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while (_safety_button_sub.update(&button_event)) {
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_safety_off |= button_event.triggered; // triggered safety button activates safety off
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}
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}
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const bool safety_changed = _previous_safety_off != _safety_off;
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_previous_safety_off = _safety_off;
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return safety_changed;
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}
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void Safety::activateSafety()
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{
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if (!_safety_disabled) {
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_safety_off = false;
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}
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}
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