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Diffstat (limited to 'src/platforms/ros/circuit_breaker.cpp')
-rw-r--r-- | src/platforms/ros/circuit_breaker.cpp | 56 |
1 files changed, 56 insertions, 0 deletions
diff --git a/src/platforms/ros/circuit_breaker.cpp b/src/platforms/ros/circuit_breaker.cpp new file mode 100644 index 000000000..1e912d3ac --- /dev/null +++ b/src/platforms/ros/circuit_breaker.cpp @@ -0,0 +1,56 @@ +/**************************************************************************** + * + * Copyright (c) 2014 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/* + * @file circuit_breaker.c + * + * Circuit breaker parameters. + * Analog to real aviation circuit breakers these parameters + * allow to disable subsystems. They are not supported as standard + * operation procedure and are only provided for development purposes. + * To ensure they are not activated accidentally, the associated + * parameter needs to set to the key (magic). + */ + +#include <px4.h> +#include <systemlib/circuit_breaker_params.h> +#include <systemlib/circuit_breaker.h> + +bool circuit_breaker_enabled(const char* breaker, int32_t magic) +{ + int32_t val; + (void)PX4_PARAM_GET(breaker, &val); + + return (val == magic); +} + |