PWMSim.hpp

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#pragma once

#include <drivers/device/device.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_mixer.h>
#include <drivers/drv_pwm_output.h>
#include <lib/mixer_module/mixer_module.hpp>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/module.h>
#include <px4_platform_common/tasks.h>
#include <px4_platform_common/time.h>
#include <uORB/topics/parameter_update.h>

class PWMSim : public cdev::CDev, public ModuleBase<PWMSim>, public OutputModuleInterface
{
public:
    PWMSim(bool hil_mode_enabled);

    /** @see ModuleBase */
    static int task_spawn(int argc, char *argv[]);

    /** @see ModuleBase */
    static int custom_command(int argc, char *argv[]);

    /** @see ModuleBase */
    static int print_usage(const char *reason = nullptr);

    /** @see ModuleBase::print_status() */
    int print_status() override;

    void Run() override;

    int ioctl(device::file_t *filp, int cmd, unsigned long arg) override;

    bool updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
               unsigned num_outputs, unsigned num_control_groups_updated) override;

private:
    static constexpr uint16_t PWM_SIM_DISARMED_MAGIC = 900;
    static constexpr uint16_t PWM_SIM_FAILSAFE_MAGIC = 600;
    static constexpr uint16_t PWM_SIM_PWM_MIN_MAGIC = 1000;
    static constexpr uint16_t PWM_SIM_PWM_MAX_MAGIC = 2000;

    MixingOutput _mixing_output{MAX_ACTUATORS, *this, MixingOutput::SchedulingPolicy::Auto, false, false};
    uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};

};