SafetyButton Class Reference

#include <SafetyButton.hpp>

Inheritance diagram for SafetyButton:

Collaboration diagram for SafetyButton:

Public Member Functions
	SafetyButton ()
virtual	~SafetyButton ()
int	print_status () override
void	Run () override
int	Start ()

Static Public Member Functions
static int	task_spawn (int argc, char *argv[])
static int	custom_command (int argc, char *argv[])
static int	print_usage (const char *reason=nullptr)

Private Member Functions
void	CheckButton ()
void	FlashButton ()

Private Attributes
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. More...
bool	_safety_btn_off {false}
	State of the safety button read from the HW button. More...

Detailed Description

Definition at line 50 of file SafetyButton.hpp.

Constructor & Destructor Documentation

SafetyButton()

SafetyButton::SafetyButton ( )

inline

Definition at line 53 of file SafetyButton.hpp.

References CheckButton(), custom_command(), FlashButton(), print_status(), print_usage(), Run(), Start(), task_spawn(), and ~SafetyButton().

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~SafetyButton()

SafetyButton::~SafetyButton ( )

virtual

Definition at line 49 of file SafetyButton.cpp.

Referenced by SafetyButton().

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Member Function Documentation

CheckButton()

void SafetyButton::CheckButton ( )

private

Definition at line 55 of file SafetyButton.cpp.

References CYCLE_COUNT, and safety_button_pressed.

Referenced by SafetyButton().

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custom_command()

int SafetyButton::custom_command ( int  argc, char *  argv[]  )

static

See also

ModuleBase

Definition at line 197 of file SafetyButton.cpp.

References print_usage().

Referenced by SafetyButton().

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FlashButton()

void SafetyButton::FlashButton ( )

private

Definition at line 95 of file SafetyButton.cpp.

References df_bebop_bus_wrapper::_armed_sub, actuator_armed_s::armed, armed, FMU_ARMED, FMU_OK_TO_ARM, FMU_REFUSE_TO_ARM, IO_ARMED, and IO_FMU_ARMED.

Referenced by SafetyButton().

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print_status()

int SafetyButton::print_status ( )

override

See also

ModuleBase::print_status()

Definition at line 203 of file SafetyButton.cpp.

Referenced by SafetyButton().

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print_usage()

int SafetyButton::print_usage ( const char *  reason = nullptr )

static

See also

ModuleBase

Definition at line 211 of file SafetyButton.cpp.

Referenced by SafetyButton().

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Run()

void SafetyButton::Run ( )

override

Definition at line 132 of file SafetyButton.cpp.

References hrt_absolute_time(), safety, safety_s::safety_off, safety_s::safety_switch_available, and safety_s::timestamp.

Referenced by SafetyButton().

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Start()

int SafetyButton::Start

(

)

Definition at line 189 of file SafetyButton.cpp.

Referenced by SafetyButton(), and task_spawn().

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task_spawn()

int SafetyButton::task_spawn ( int  argc, char *  argv[]  )

static

See also

ModuleBase

Definition at line 154 of file SafetyButton.cpp.

References CBRK_IO_SAFETY_KEY, circuit_breaker_enabled(), ll40ls::instance, and Start().

Referenced by SafetyButton().

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Member Data Documentation

_armed_sub

uORB::Subscription SafetyButton::_armed_sub {ORB_ID(actuator_armed)}

private

Definition at line 78 of file SafetyButton.hpp.

_blink_counter

uint8_t SafetyButton::_blink_counter {0}

private

Definition at line 82 of file SafetyButton.hpp.

_button_counter

uint8_t SafetyButton::_button_counter {0}

private

Definition at line 81 of file SafetyButton.hpp.

_safety_btn_off

bool SafetyButton::_safety_btn_off {false}

private

State of the safety button read from the HW button.

Definition at line 84 of file SafetyButton.hpp.

_safety_off

bool SafetyButton::_safety_off {false}

private

State of the safety button from the subscribed safety topic.

Definition at line 83 of file SafetyButton.hpp.

_to_safety

uORB::Publication<safety_s> SafetyButton::_to_safety {ORB_ID(safety)}

private

Definition at line 79 of file SafetyButton.hpp.

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The documentation for this class was generated from the following files:

• src/drivers/safety_button/SafetyButton.hpp
• src/drivers/safety_button/SafetyButton.cpp