forked from Archive/PX4-Autopilot
86 lines
2.8 KiB
C++
86 lines
2.8 KiB
C++
/****************************************************************************
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*
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* Copyright (C) 2015 Mark Charlebois. All rights reserved.
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* Copyright (C) 2016 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 <px4_platform_common/px4_config.h>
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#include <px4_platform_common/atomic.h>
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#include <px4_platform_common/defines.h>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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#include <drivers/drv_hrt.h>
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#include <lib/perf/perf_counter.h>
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#include <uORB/PublicationMulti.hpp>
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#include <uORB/topics/input_rc.h>
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namespace navio_sysfs_rc_in
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{
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class NavioSysRCInput : public px4::ScheduledWorkItem
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{
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public:
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NavioSysRCInput();
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~NavioSysRCInput() override;
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/* @return 0 on success, -errno on failure */
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int start();
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/* @return 0 on success, -errno on failure */
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void stop();
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int print_status();
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bool isRunning() { return _isRunning; }
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private:
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void Run() override;
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int navio_rc_init();
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px4::atomic_bool _should_exit{false};
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bool _isRunning{false};
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uORB::PublicationMulti<input_rc_s> _input_rc_pub{ORB_ID(input_rc)};
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static constexpr int CHANNELS{14};
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int _channel_fd[CHANNELS] {};
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int _connected_fd{-1};
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bool _connected{false};
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perf_counter_t _publish_interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": publish interval")};
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};
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}; // namespace navio_sysfs_rc_in
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