SafetyButton.hpp

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#pragma once

#include <float.h>

#include <circuit_breaker/circuit_breaker.h>
#include <drivers/drv_hrt.h>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/log.h>
#include <px4_platform_common/module.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <uORB/Publication.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/safety.h>

class SafetyButton : public ModuleBase<SafetyButton>, public px4::ScheduledWorkItem
{
public:
    SafetyButton() : ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default) {}
    virtual ~SafetyButton();

    /** @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 Start();

private:

    void CheckButton();
    void FlashButton();


    uORB::Subscription      _armed_sub{ORB_ID(actuator_armed)};
    uORB::Publication<safety_s> _to_safety{ORB_ID(safety)};

    uint8_t             _button_counter{0};
    uint8_t             _blink_counter{0};
    bool                _safety_off{false};     ///< State of the safety button from the subscribed safety topic
    bool                _safety_btn_off{false};     ///< State of the safety button read from the HW button

};