mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-21 01:37:36 +08:00
Pavel Kirienko
55 lines
1.4 KiB
C++
55 lines
1.4 KiB
C++
/*
|
|
* Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
|
|
*/
|
|
|
|
#ifndef UAVCAN_PROTOCOL_PANIC_BROADCASTER_HPP_INCLUDED
|
|
#define UAVCAN_PROTOCOL_PANIC_BROADCASTER_HPP_INCLUDED
|
|
|
|
#include <uavcan/node/publisher.hpp>
|
|
#include <uavcan/node/timer.hpp>
|
|
#include <uavcan/protocol/Panic.hpp>
|
|
|
|
namespace uavcan
|
|
{
|
|
/**
|
|
* Helper for broadcasting the message uavcan.protocol.Panic.
|
|
*/
|
|
class UAVCAN_EXPORT PanicBroadcaster : private TimerBase
|
|
{
|
|
Publisher<protocol::Panic> pub_;
|
|
protocol::Panic msg_;
|
|
|
|
void publishOnce();
|
|
|
|
virtual void handleTimerEvent(const TimerEvent&);
|
|
|
|
public:
|
|
explicit PanicBroadcaster(INode& node)
|
|
: TimerBase(node)
|
|
, pub_(node)
|
|
{
|
|
pub_.setTxTimeout(MonotonicDuration::fromMSec(protocol::Panic::BROADCASTING_INTERVAL_MS - 10));
|
|
}
|
|
|
|
/**
|
|
* Begin broadcasting at the standard interval (see BROADCASTING_INTERVAL_MS).
|
|
* This method does not block and can't fail.
|
|
* @param short_reason Short ASCII string that describes the reason of the panic, 7 characters max.
|
|
* If the string exceeds 7 characters, it will be truncated.
|
|
*/
|
|
void panic(const char* short_reason_description);
|
|
|
|
/**
|
|
* Stop broadcasting immediately.
|
|
*/
|
|
void dontPanic(); // Where's my towel
|
|
|
|
bool isPanicking() const;
|
|
|
|
const typename protocol::Panic::FieldTypes::reason_text& getReason() const;
|
|
};
|
|
|
|
}
|
|
|
|
#endif // UAVCAN_PROTOCOL_PANIC_BROADCASTER_HPP_INCLUDED
|