hardpoint.hpp

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#pragma once

#include <uavcan/uavcan.hpp>
#include <uavcan/equipment/hardpoint/Command.hpp>
#include <uavcan/equipment/hardpoint/Status.hpp>
#include <perf/perf_counter.h>

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

    /*
    * setup periodic updater
    */
    int init();


    /*
     * set command
     */
    void set_command(uint8_t hardpoint_id, uint16_t command);

private:
    /*
     * Max update rate to avoid exessive bus traffic
     */
    static constexpr unsigned           MAX_RATE_HZ = 1;    

    uavcan::equipment::hardpoint::Command       _cmd;

    void periodic_update(const uavcan::TimerEvent &);

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

    pthread_mutex_t                 _node_mutex;
    /*
     * libuavcan related things
     */
    uavcan::INode                           &_node;
    uavcan::Publisher<uavcan::equipment::hardpoint::Command>    _uavcan_pub_raw_cmd;
    uavcan::TimerEventForwarder<TimerCbBinder>          _timer;

};