/* $Id$
*
* This file is a part of jPapaBench providing a Java implementation
* of PapaBench project.
* Copyright (C) 2010 Michal Malohlava <michal.malohlava_at_d3s.mff.cuni.cz>
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation; either version 2
* of the License, or (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
*
*/
package papabench.core.fbw.tasks.handlers;
import static papabench.core.utils.LogUtils.log;
import papabench.core.commons.conf.FBWMode;
import papabench.core.commons.conf.RadioConf;
import papabench.core.fbw.modules.FBWModule;
/**
* Switch to fail save state of airplane control.
*
* The switching depends on message lost.
*
* T = 50ms
*
* @author Michal Malohlava
*
*/
public class CheckFailsafeTaskHandler implements Runnable {
private FBWModule fbwModule;
public CheckFailsafeTaskHandler(FBWModule fbwModule) {
this.fbwModule = fbwModule;
}
public void run() {
if (fbwModule.getFBWMode() == FBWMode.MANUAL && !fbwModule.isRadioOK()
|| fbwModule.getFBWMode() == FBWMode.AUTO && !fbwModule.isMega128OK()) {
this.fbwModule.getServosController().setServos(RadioConf.safestateRadioCommands);
log(this, "Airplane was switched into failsafe mode");
}
}
}