safety_state.cpp
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/****************************************************************************
*
* Copyright (c) 2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file safety_state.cpp
*
* @author CUAVcaijie <caijie@cuav.net>
*/
#include "safety_state.hpp"
UavcanSafetyState::UavcanSafetyState(uavcan::INode &node) :
_safety_state_pub(node),
_timer(node)
{
}
int UavcanSafetyState::init()
{
/*
* Setup timer and call back function for periodic updates
*/
if (!_timer.isRunning()) {
_timer.setCallback(TimerCbBinder(this, &UavcanSafetyState::periodic_update));
_timer.startPeriodic(uavcan::MonotonicDuration::fromMSec(1000 / MAX_RATE_HZ));
}
return 0;
}
void UavcanSafetyState::periodic_update(const uavcan::TimerEvent &)
{
actuator_armed_s actuator_armed;
if (_actuator_armed_sub.update(&actuator_armed)) {
ardupilot::indication::SafetyState cmd;
if (actuator_armed.armed || actuator_armed.prearmed) {
cmd.status = cmd.STATUS_SAFETY_OFF;
} else {
cmd.status = cmd.STATUS_SAFETY_ON;
}
(void)_safety_state_pub.broadcast(cmd);
}
}