hardpoint.cpp

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/**
 * @file hardpoint.cpp
 *
 * @author Andreas Jochum <Andreas@NicaDrone.com>
 */

#include "hardpoint.hpp"
#include <systemlib/err.h>

UavcanHardpointController::UavcanHardpointController(uavcan::INode &node) :
    _node(node),
    _uavcan_pub_raw_cmd(node),
    _timer(node)
{
    _uavcan_pub_raw_cmd.setPriority(uavcan::TransferPriority::MiddleLower);
}

UavcanHardpointController::~UavcanHardpointController()
{

}

int
UavcanHardpointController::init()
{
    /*
     * Setup timer and call back function for periodic updates
     */
    _timer.setCallback(TimerCbBinder(this, &UavcanHardpointController::periodic_update));
    return 0;
}

void
UavcanHardpointController::set_command(uint8_t hardpoint_id, uint16_t command)
{
    _cmd.command = command;
    _cmd.hardpoint_id = hardpoint_id;

    /*
     * Publish the command message to the bus
     */
    _uavcan_pub_raw_cmd.broadcast(_cmd);

    /*
     * Start the periodic update timer after a command is set
     */
    if (!_timer.isRunning()) {
        _timer.startPeriodic(uavcan::MonotonicDuration::fromMSec(1000 / MAX_RATE_HZ));
    }

}

void
UavcanHardpointController::periodic_update(const uavcan::TimerEvent &)
{
    // Broadcast command at MAX_RATE_HZ
    _uavcan_pub_raw_cmd.broadcast(_cmd);
}