esc.hpp

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#pragma once

#include <uavcan/uavcan.hpp>
#include <uavcan/equipment/esc/RawCommand.hpp>
#include <uavcan/equipment/esc/Status.hpp>
#include <perf/perf_counter.h>
#include <uORB/topics/esc_status.h>
#include <uORB/topics/actuator_outputs.h>


class UavcanEscController
{
public:
    UavcanEscController(uavcan::INode &node);
    ~UavcanEscController();

    int init();

    void update_outputs(float *outputs, unsigned num_outputs);

    void arm_all_escs(bool arm);
    void arm_single_esc(int num, bool arm);

    void enable_idle_throttle_when_armed(bool value) { _run_at_idle_throttle_when_armed = value; }

private:
    void esc_status_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::esc::Status> &msg);

    void orb_pub_timer_cb(const uavcan::TimerEvent &event);


    static constexpr unsigned MAX_RATE_HZ = 200;            
    static constexpr unsigned ESC_STATUS_UPDATE_RATE_HZ = 10;
    static constexpr unsigned UAVCAN_COMMAND_TRANSFER_PRIORITY = 5; 

    typedef uavcan::MethodBinder<UavcanEscController *,
        void (UavcanEscController::*)(const uavcan::ReceivedDataStructure<uavcan::equipment::esc::Status>&)>
        StatusCbBinder;

    typedef uavcan::MethodBinder<UavcanEscController *, void (UavcanEscController::*)(const uavcan::TimerEvent &)>
    TimerCbBinder;

    bool        _armed = false;
    bool        _run_at_idle_throttle_when_armed = false;
    esc_status_s    _esc_status = {};
    orb_advert_t    _esc_status_pub = nullptr;
    orb_advert_t _actuator_outputs_pub = nullptr;

    /*
     * libuavcan related things
     */
    uavcan::MonotonicTime                           _prev_cmd_pub;   
    uavcan::INode                               &_node;
    uavcan::Publisher<uavcan::equipment::esc::RawCommand>           _uavcan_pub_raw_cmd;
    uavcan::Subscriber<uavcan::equipment::esc::Status, StatusCbBinder>  _uavcan_sub_status;
    uavcan::TimerEventForwarder<TimerCbBinder>              _orb_timer;

    /*
     * ESC states
     */
    uint32_t            _armed_mask = 0;
    uint8_t             _max_number_of_nonzero_outputs = 0;

    /*
     * Perf counters
     */
    perf_counter_t _perfcnt_invalid_input = perf_alloc(PC_COUNT, "uavcan_esc_invalid_input");
    perf_counter_t _perfcnt_scaling_error = perf_alloc(PC_COUNT, "uavcan_esc_scaling_error");
};