PWMSim.hpp

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#pragma once

#include <string.h>

#include <drivers/device/device.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_mixer.h>
#include <drivers/drv_pwm_output.h>
#include <lib/mixer/mixer.h>
#include <perf/perf_counter.h>
#include <px4_common.h>
#include <px4_config.h>
#include <px4_module.h>
#include <px4_tasks.h>
#include <px4_time.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/parameter_update.h>

class PWMSim : public cdev::CDev, public ModuleBase<PWMSim>
{
    static constexpr uint32_t PWM_SIM_DISARMED_MAGIC = 900;
    static constexpr uint32_t PWM_SIM_FAILSAFE_MAGIC = 600;
    static constexpr uint32_t PWM_SIM_PWM_MIN_MAGIC = 1000;
    static constexpr uint32_t PWM_SIM_PWM_MAX_MAGIC = 2000;

public:

    enum Mode {
        MODE_8PWM,
        MODE_16PWM,
        MODE_NONE
    };

    PWMSim();
    virtual ~PWMSim();

    static int task_spawn(int argc, char *argv[]);

    static PWMSim *instantiate(int argc, char *argv[]);

    static int custom_command(int argc, char *argv[]);

    static int print_usage(const char *reason = nullptr);

    void run() override;

    int print_status() override;


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

    int     set_pwm_rate(unsigned rate);

    int     set_mode(Mode mode);
    Mode    get_mode() { return _mode; }

private:
    static constexpr unsigned MAX_ACTUATORS = 16;

    Mode        _mode{MODE_NONE};

    int         _update_rate{400};
    int         _current_update_rate{0};

    int         _control_subs[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS];

    px4_pollfd_struct_t _poll_fds[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS] {};
    unsigned    _poll_fds_num{0};

    int     _armed_sub{-1};

    actuator_outputs_s _actuator_outputs = {};
    orb_advert_t    _outputs_pub{nullptr};
    orb_advert_t    _mixer_status{nullptr};

    unsigned    _num_outputs{0};

    unsigned    _pwm_min[MAX_ACTUATORS] {};
    unsigned    _pwm_max[MAX_ACTUATORS] {};

    uint32_t    _groups_required{0};
    uint32_t    _groups_subscribed{0};

    bool    _armed{false};
    bool    _lockdown{false};
    bool    _failsafe{false};

    MixerGroup  *_mixers{nullptr};

    actuator_controls_s _controls[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS] {};
    orb_id_t    _control_topics[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS] {};

    Mixer::Airmode  _airmode{Mixer::Airmode::disabled};     

    perf_counter_t  _perf_control_latency;

    static int  control_callback(uintptr_t handle, uint8_t control_group, uint8_t control_index, float &input);

    void    subscribe();

    void    update_params();
};