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85 lines
3.0 KiB
C++
85 lines
3.0 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.cpp
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*
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* Library for button functionality.
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*
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*/
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#include <button/ButtonPublisher.hpp>
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using namespace time_literals;
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ButtonPublisher::ButtonPublisher()
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{
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_safety_button_pub.advertise();
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}
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void ButtonPublisher::safetyButtonTriggerEvent()
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{
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button_event_s safety_button{};
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safety_button.triggered = true;
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safety_button.timestamp = hrt_absolute_time();
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_safety_button_pub.publish(safety_button);
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}
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void ButtonPublisher::pairingButtonTriggerEvent()
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{
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vehicle_command_s vcmd{};
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vcmd.command = vehicle_command_s::VEHICLE_CMD_START_RX_PAIR;
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vcmd.param1 = 10.f; // GCS pairing request handled by a companion.
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vcmd.timestamp = hrt_absolute_time();
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_vehicle_command_pub.publish(vcmd);
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PX4_DEBUG("Sending GCS pairing request");
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led_control_s led_control{};
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led_control.led_mask = 0xff;
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led_control.mode = led_control_s::MODE_BLINK_FAST;
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led_control.color = led_control_s::COLOR_GREEN;
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led_control.num_blinks = 1;
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led_control.priority = 0;
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led_control.timestamp = hrt_absolute_time();
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_led_control_pub.publish(led_control);
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tune_control_s tune_control{};
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tune_control.tune_id = tune_control_s::TUNE_ID_NOTIFY_POSITIVE;
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tune_control.volume = tune_control_s::VOLUME_LEVEL_DEFAULT;
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tune_control.timestamp = hrt_absolute_time();
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_tune_control_pub.publish(tune_control);
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}
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