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83 lines
2.9 KiB
C++
83 lines
2.9 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2021-2022 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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#pragma once
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#include "FunctionProviderBase.hpp"
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#include <uORB/topics/vehicle_command.h>
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/**
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* Functions: Offboard_Actuator_Set1 ... Offboard_Actuator_Set6
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*/
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class FunctionActuatorSet : public FunctionProviderBase
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{
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public:
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FunctionActuatorSet()
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{
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for (int i = 0; i < max_num_actuators; ++i) {
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_data[i] = NAN;
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}
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}
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static FunctionProviderBase *allocate(const Context &context) { return new FunctionActuatorSet(); }
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void update() override
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{
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vehicle_command_s vehicle_command;
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while (_topic.update(&vehicle_command)) {
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if (vehicle_command.command == vehicle_command_s::VEHICLE_CMD_DO_SET_ACTUATOR) {
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int index = (int)(vehicle_command.param7 + 0.5f);
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if (index == 0) {
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_data[0] = vehicle_command.param1;
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_data[1] = vehicle_command.param2;
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_data[2] = vehicle_command.param3;
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_data[3] = vehicle_command.param4;
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_data[4] = vehicle_command.param5;
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_data[5] = vehicle_command.param6;
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}
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}
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}
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}
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float value(OutputFunction func) override { return _data[(int)func - (int)OutputFunction::Offboard_Actuator_Set1]; }
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private:
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static constexpr int max_num_actuators = 6;
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uORB::Subscription _topic{ORB_ID(vehicle_command)};
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float _data[max_num_actuators] {};
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};
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