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78 lines
2.8 KiB
C++
78 lines
2.8 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 ButtonPublisher.hpp
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*
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* Library for button functionality.
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*
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*/
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#pragma once
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#include <drivers/drv_tone_alarm.h>
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#include <drivers/drv_hrt.h>
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#include <uORB/Publication.hpp>
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#include <uORB/PublicationMulti.hpp>
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#include <uORB/Subscription.hpp>
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#include <uORB/topics/actuator_armed.h>
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#include <uORB/topics/button_event.h>
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#include <uORB/topics/vehicle_command.h>
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#include <uORB/topics/led_control.h>
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#include <uORB/topics/tune_control.h>
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class ButtonPublisher
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{
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public:
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ButtonPublisher();
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~ButtonPublisher() = default;
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/**
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* Function for publishing safety button trigger event
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*/
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void safetyButtonTriggerEvent();
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/**
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* Function for publishing pairing button trigger event
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*/
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void pairingButtonTriggerEvent();
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static constexpr uint8_t PAIRING_BUTTON_EVENT_COUNT{3};
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private:
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uORB::Publication<button_event_s> _safety_button_pub{ORB_ID(safety_button)};
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uORB::Publication<vehicle_command_s> _vehicle_command_pub{ORB_ID(vehicle_command)};
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uORB::Publication<led_control_s> _led_control_pub{ORB_ID(led_control)};
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uORB::Publication<tune_control_s> _tune_control_pub{ORB_ID(tune_control)};
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};
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