mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-15 13:43:35 +08:00
Lorenz Meier
0a58482e51
This will ensure that the CRCs will match with deployed units to avoid unnecessary incompatibilities while we are figuring out how to best standardize these between stakeholders.
84 lines
2.7 KiB
C++
84 lines
2.7 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2020 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_state.hpp
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*
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* @author CUAVcaijie <caijie@cuav.net>
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*
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* @brief According to actuator_armed to control the CAN SafetyState led
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*/
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#pragma once
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#include <uavcan/uavcan.hpp>
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#include <ardupilot/indication/SafetyState.hpp>
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#include <uORB/Subscription.hpp>
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#include <uORB/topics/actuator_armed.h>
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class UavcanSafetyState
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{
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public:
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UavcanSafetyState(uavcan::INode &node);
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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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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 = 10;
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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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void periodic_update(const uavcan::TimerEvent &);
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typedef uavcan::MethodBinder<UavcanSafetyState *, void (UavcanSafetyState::*)(const uavcan::TimerEvent &)>
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TimerCbBinder;
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/*
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* Publish CAN Safety state led
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*/
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uavcan::Publisher<ardupilot::indication::SafetyState> _safety_state_pub;
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uavcan::TimerEventForwarder<TimerCbBinder> _timer;
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uORB::Subscription _actuator_armed_sub{ORB_ID(actuator_armed)};
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};
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