yemai/bizhang_-obav
1
0
Fork 0
mirror of https://gitee.com/xiaohuolufeihua/bizhang_-obav.git synced 2026-05-22 09:28:58 +00:00
Code Issues Packages Projects Releases Wiki Activity

buch of error fixes for the uavcan hardpoint stuff

Browse Source
This commit is contained in:
blah
2016-01-19 15:25:17 -08:00
committed by Lorenz Meier
parent ecf2b56013
commit 26b7fff239
3 changed files with 28 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files

19
src/modules/uavcan/uavcan_main.cpp
View File

@@ -81,10 +81,12 @@ UavcanNode::UavcanNode(uavcan::ICanDriver &can_driver, uavcan::ISystemClock &sys
_node(can_driver, system_clock, _pool_allocator),
_node_mutex(),
_esc_controller(_node),
_hardpoint_controller(_node),
_time_sync_master(_node),
_time_sync_slave(_node),
_master_timer(_node),
_setget_response(0)
{
_task_should_exit = false;
_fw_server_action = None;
@@ -1103,14 +1105,14 @@ UavcanNode::ioctl(file *filp, int cmd, unsigned long arg)
_mixers->groups_required(_groups_required);
}
}
break;
}
break;
case UAVCANIOC_HARDPOINT_SET:
case UAVCANIOC_HARDPOINT_SET: {
const auto& cmd = *reinterpret_cast<uavcan::equipment::hardpoint::Command*>(arg);
_hardpoint_controller.set_command(cmd.hardpoint_id, cmd.command);
}
break;
default:
@@ -1370,6 +1372,15 @@ int uavcan_main(int argc, char *argv[])
return inst->set_param(nodeid, argv[4], argv[5]);
}
}
if (!std::strcmp(argv[1],"uavcan_hardpoint_set")) {
if (argc < 3) {
errx(1, "Hardpoint Id and value is requred");
}
//UavcanNode::ioctl(file *filp, int cmd, unsigned long arg)
//UavcanNode.ioctl(???)
// _hardpoint_controller.set_command()
}
if (!std::strcmp(argv[1], "stop")) {
if (fw) {