ardupilot/libraries/AP_Notify/AP_Notify.cpp

/*
   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 3 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, see <http://www.gnu.org/licenses/>.
 */

#include "AP_Notify.h"

#include "AP_BoardLED.h"
#include "PixRacerLED.h"
#include "Buzzer.h"
#include "Display.h"
#include "ExternalLED.h"
#include "PCA9685LED_I2C.h"
#include "NavigatorLED.h"
#include "NeoPixel.h"
#include "NCP5623.h"
#include "OreoLED_I2C.h"
#include "RCOutputRGBLed.h"
#include "ToneAlarm.h"
#include "ToshibaLED_I2C.h"
#include "VRBoard_LED.h"
#include "DiscreteRGBLed.h"
#include "DiscoLED.h"
#include "Led_Sysfs.h"
#include "UAVCAN_RGB_LED.h"
#include "SITL_SFML_LED.h"
#include <stdio.h>
#include "AP_BoardLED2.h"
#include "ProfiLED.h"
#include "ScriptingLED.h"
#include "DShotLED.h"

extern const AP_HAL::HAL& hal;

AP_Notify *AP_Notify::_singleton;

#define CONFIG_NOTIFY_DEVICES_MAX 6

#define TOSHIBA_LED_I2C_BUS_INTERNAL    0
#define TOSHIBA_LED_I2C_BUS_EXTERNAL    1

// all I2C_LEDS
#define I2C_LEDS (Notify_LED_ToshibaLED_I2C_Internal | Notify_LED_ToshibaLED_I2C_External | \
                  Notify_LED_NCP5623_I2C_Internal | Notify_LED_NCP5623_I2C_External)

#ifndef BUILD_DEFAULT_LED_TYPE
#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
  #define BUILD_DEFAULT_LED_TYPE (Notify_LED_Board | I2C_LEDS)

// Linux boards
#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
  #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
    #define BUILD_DEFAULT_LED_TYPE (Notify_LED_Board | I2C_LEDS |\
                                    Notify_LED_PCA9685LED_I2C_External)

  #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2
    #define BUILD_DEFAULT_LED_TYPE (Notify_LED_Board | I2C_LEDS)

  #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE
    #define BUILD_DEFAULT_LED_TYPE (Notify_LED_Board | I2C_LEDS |\
                                    Notify_LED_UAVCAN)
  #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI || \
        CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE || \
        CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_POCKET || \
        CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
        CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI || \
        CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH || \
        CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO || \
        CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1
    #define BUILD_DEFAULT_LED_TYPE (Notify_LED_Board)

  #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RST_ZYNQ
    #define BUILD_DEFAULT_LED_TYPE (Notify_LED_ToshibaLED_I2C_External)

  #else // other linux
    #define BUILD_DEFAULT_LED_TYPE (Notify_LED_Board | I2C_LEDS)
  #endif

// All other builds
#else
    #define BUILD_DEFAULT_LED_TYPE (Notify_LED_Board | I2C_LEDS)

#endif // board selection

#endif // BUILD_DEFAULT_LED_TYPE

#ifndef BUZZER_ENABLE_DEFAULT
#if HAL_CANMANAGER_ENABLED
// Enable Buzzer messages over UAVCAN
#define BUZZER_ENABLE_DEFAULT (Notify_Buzz_Builtin | Notify_Buzz_UAVCAN)
#else
#define BUZZER_ENABLE_DEFAULT Notify_Buzz_Builtin
#endif
#endif

#ifndef BUILD_DEFAULT_BUZZER_TYPE
#define BUILD_DEFAULT_BUZZER_TYPE BUZZER_ENABLE_DEFAULT
#endif

#ifndef NOTIFY_LED_BRIGHT_DEFAULT
#define NOTIFY_LED_BRIGHT_DEFAULT RGB_LED_HIGH
#endif

#ifndef NOTIFY_LED_OVERRIDE_DEFAULT
#ifdef HAL_BUILD_AP_PERIPH
    #define NOTIFY_LED_OVERRIDE_DEFAULT 1       // rgb_source_t::mavlink
#else
    #define NOTIFY_LED_OVERRIDE_DEFAULT 0       // rgb_source_t::standard
#endif
#endif

#ifndef NOTIFY_LED_LEN_DEFAULT
#define NOTIFY_LED_LEN_DEFAULT 1
#endif

#ifndef HAL_BUZZER_PIN
#define HAL_BUZZER_PIN -1
#endif

#ifndef HAL_BUZZER_ON
#define HAL_BUZZER_ON 1
#define HAL_BUZZER_OFF 0
#endif

// table of user settable parameters
const AP_Param::GroupInfo AP_Notify::var_info[] = {

    // @Param: LED_BRIGHT
    // @DisplayName: LED Brightness
    // @Description: Select the RGB LED brightness level. When USB is connected brightness will never be higher than low regardless of the setting.
    // @Values: 0:Off,1:Low,2:Medium,3:High
    // @User: Advanced
    AP_GROUPINFO("LED_BRIGHT", 0, AP_Notify, _rgb_led_brightness, NOTIFY_LED_BRIGHT_DEFAULT),

    // @Param: BUZZ_TYPES
    // @DisplayName: Buzzer Driver Types
    // @Description: Controls what types of Buzzer will be enabled
    // @Bitmask: 0:Built-in buzzer, 1:DShot, 2:DroneCAN
    // @User: Advanced
    AP_GROUPINFO("BUZZ_TYPES", 1, AP_Notify, _buzzer_type, BUILD_DEFAULT_BUZZER_TYPE),

    // @Param: LED_OVERRIDE
    // @DisplayName: Specifies colour source for the RGBLed
    // @Description: Specifies the source for the colours and brightness for the LED.  OutbackChallenge conforms to the MedicalExpress (https://uavchallenge.org/medical-express/) rules, essentially "Green" is disarmed (safe-to-approach), "Red" is armed (not safe-to-approach). Traffic light is a simplified color set, red when armed, yellow when the safety switch is not surpressing outputs (but disarmed), and green when outputs are surpressed and disarmed, the LED will blink faster if disarmed and failing arming checks.
    // @Values: 0:Standard,1:MAVLink/Scripting/AP_Periph,2:OutbackChallenge,3:TrafficLight
    // @User: Advanced
    AP_GROUPINFO("LED_OVERRIDE", 2, AP_Notify, _rgb_led_override, NOTIFY_LED_OVERRIDE_DEFAULT),

#if HAL_DISPLAY_ENABLED
    // @Param: DISPLAY_TYPE
    // @DisplayName: Type of on-board I2C display
    // @Description: This sets up the type of on-board I2C display. Disabled by default.
    // @Values: 0:Disable,1:ssd1306,2:sh1106,10:SITL
    // @User: Advanced
    AP_GROUPINFO("DISPLAY_TYPE", 3, AP_Notify, _display_type, 0),
#endif

#if HAL_OREO_LED_ENABLED
    // @Param: OREO_THEME
    // @DisplayName: OreoLED Theme
    // @Description: Enable/Disable Solo Oreo LED driver, 0 to disable, 1 for Aircraft theme, 2 for Rover theme
    // @Values: 0:Disabled,1:Aircraft,2:Rover
    // @User: Advanced
    AP_GROUPINFO("OREO_THEME", 4, AP_Notify, _oreo_theme, 0),
#endif

    // @Param: BUZZ_PIN
    // @DisplayName: Buzzer pin
    // @Description: Enables to connect active buzzer to arbitrary pin. Requires 3-pin buzzer or additional MOSFET! Some the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.
    // @Values: 0:Disabled
    // @User: Advanced
    AP_GROUPINFO("BUZZ_PIN", 5, AP_Notify, _buzzer_pin, HAL_BUZZER_PIN),

    // @Param: LED_TYPES
    // @DisplayName: LED Driver Types
    // @Description: Controls what types of LEDs will be enabled
    // @Bitmask: 0:Built-in LED, 1:Internal ToshibaLED, 2:External ToshibaLED, 3:External PCA9685, 4:Oreo LED, 5:DroneCAN, 6:NCP5623 External, 7:NCP5623 Internal, 8:NeoPixel, 9:ProfiLED, 10:Scripting, 11:DShot, 12:ProfiLED_SPI
    // @User: Advanced
    AP_GROUPINFO("LED_TYPES", 6, AP_Notify, _led_type, BUILD_DEFAULT_LED_TYPE),

    // @Param: BUZZ_ON_LVL
    // @DisplayName: Buzzer-on pin logic level
    // @Description: Specifies pin level that indicates buzzer should play
    // @Values: 0:LowIsOn,1:HighIsOn
    // @User: Advanced
    AP_GROUPINFO("BUZZ_ON_LVL", 7, AP_Notify, _buzzer_level, HAL_BUZZER_ON),

    // @Param: BUZZ_VOLUME
    // @DisplayName: Buzzer volume
    // @Description: Control the volume of the buzzer
    // @Range: 0 100
    // @Units: %
    AP_GROUPINFO("BUZZ_VOLUME", 8, AP_Notify, _buzzer_volume, 100),

    // @Param: LED_LEN
    // @DisplayName: Serial LED String Length
    // @Description: The number of Serial LED's to use for notifications (NeoPixel's and ProfiLED)
    // @Range: 1 32
    // @User: Advanced
    // @RebootRequired: True
    AP_GROUPINFO("LED_LEN", 9, AP_Notify, _led_len, NOTIFY_LED_LEN_DEFAULT),

    AP_GROUPEND
};

// Default constructor
AP_Notify::AP_Notify()
{
    AP_Param::setup_object_defaults(this, var_info);
    if (_singleton != nullptr) {
        AP_HAL::panic("AP_Notify must be singleton");
    }
    _singleton = this;
}

// static flags, to allow for direct class update from device drivers
struct AP_Notify::notify_flags_and_values_type AP_Notify::flags;
struct AP_Notify::notify_events_type AP_Notify::events;

NotifyDevice *AP_Notify::_devices[CONFIG_NOTIFY_DEVICES_MAX];
uint8_t AP_Notify::_num_devices;

void AP_Notify::add_backend_helper(NotifyDevice *backend)
{
    _devices[_num_devices] = backend;
    _devices[_num_devices]->pNotify = this;
    if(!_devices[_num_devices]->init()) {
        delete _devices[_num_devices];
        _devices[_num_devices] = nullptr;
    } else {
      _num_devices++;
    }
}

#define ADD_BACKEND(backend) do { add_backend_helper(backend); if (_num_devices >= CONFIG_NOTIFY_DEVICES_MAX) return;} while(0)

// add notify backends to _devices array
void AP_Notify::add_backends(void)
{
    if (_num_devices != 0) {
        return;
    }

    for (uint32_t i = 1; i < Notify_LED_MAX; i = i << 1) {
        switch(_led_type & i) {
            case Notify_LED_None:
                break;
            case Notify_LED_Board:
                // select the most appropriate built in LED driver type
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
  #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2
                ADD_BACKEND(new Led_Sysfs("rgb_led0", "rgb_led2", "rgb_led1"));
  #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE
                ADD_BACKEND(new RCOutputRGBLedInverted(12, 13, 14));
  #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH
                ADD_BACKEND(new RCOutputRGBLed(HAL_RCOUT_RGBLED_RED, HAL_RCOUT_RGBLED_GREEN, HAL_RCOUT_RGBLED_BLUE));
  #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
                ADD_BACKEND(new DiscoLED());
  #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR
                ADD_BACKEND(new NavigatorLED());
  #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1
            ADD_BACKEND(new AP_BoardLED2());
  #endif
#endif // CONFIG_HAL_BOARD == HAL_BOARD_LINUX

#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_VRBRAIN_V51 || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_VRBRAIN_V52 || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_VRUBRAIN_V51 || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_VRCORE_V10 || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_VRBRAIN_V54
                ADD_BACKEND(new ExternalLED()); // despite the name this is a built in set of onboard LED's
#endif // CONFIG_HAL_BOARD_SUBTYPE == various CHIBIOS-VRBRAINs

#if defined(HAL_HAVE_PIXRACER_LED)
                ADD_BACKEND(new PixRacerLED());
#elif (defined(HAL_GPIO_A_LED_PIN) && defined(HAL_GPIO_B_LED_PIN) && defined(HAL_GPIO_C_LED_PIN))
  #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_VRBRAIN_V51 || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_VRBRAIN_V52 || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_VRUBRAIN_V51 || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_VRCORE_V10 || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_VRBRAIN_V54
                ADD_BACKEND(new VRBoard_LED());
  #else
                ADD_BACKEND(new AP_BoardLED());
  #endif
#elif (defined(HAL_GPIO_A_LED_PIN) && defined(HAL_GPIO_B_LED_PIN))
                ADD_BACKEND(new AP_BoardLED2());
#endif
                break;
            case Notify_LED_ToshibaLED_I2C_Internal:
                ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_INTERNAL));
                break;
            case Notify_LED_ToshibaLED_I2C_External:
                ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_EXTERNAL));
                break;
#if !HAL_MINIMIZE_FEATURES
            case Notify_LED_NCP5623_I2C_External:
                FOREACH_I2C_EXTERNAL(b) {
                    ADD_BACKEND(new NCP5623(b));
                }
                break;
            case Notify_LED_NCP5623_I2C_Internal:
                FOREACH_I2C_INTERNAL(b) {
                    ADD_BACKEND(new NCP5623(b));
                }
                break;
#endif
            case Notify_LED_PCA9685LED_I2C_External:
                ADD_BACKEND(new PCA9685LED_I2C());
                break;
            case Notify_LED_NeoPixel:
                ADD_BACKEND(new NeoPixel());
                break;
            case Notify_LED_ProfiLED:
                ADD_BACKEND(new ProfiLED());
                break;
            case Notify_LED_ProfiLED_SPI:
                ADD_BACKEND(new ProfiLED_SPI());
                break;
            case Notify_LED_OreoLED:
#if HAL_OREO_LED_ENABLED
                if (_oreo_theme) {
                    ADD_BACKEND(new OreoLED_I2C(0, _oreo_theme));
                }
#endif
                break;
            case Notify_LED_UAVCAN:
#if HAL_CANMANAGER_ENABLED
                ADD_BACKEND(new UAVCAN_RGB_LED(0));
#endif // HAL_CANMANAGER_ENABLED
                break;

            case Notify_LED_Scripting:
#if AP_SCRIPTING_ENABLED
                ADD_BACKEND(new ScriptingLED());
#endif
                break;

            case Notify_LED_DShot:
#if HAL_SUPPORT_RCOUT_SERIAL
                ADD_BACKEND(new DShotLED());
#endif
                break;
        }
    }

#if HAL_DISPLAY_ENABLED
    // Always try and add a display backend
    ADD_BACKEND(new Display());
#endif

// ChibiOS noise makers
#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
    ADD_BACKEND(new Buzzer());
#if HAL_PWM_COUNT > 0 || HAL_DSHOT_ALARM
    ADD_BACKEND(new AP_ToneAlarm());
#endif

// Linux noise makers
#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
  #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || \
      CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2 || \
      CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE || \
      CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
      CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI || \
      CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RST_ZYNQ || \
      CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE
    // No noise makers, keep this though to ensure that the final else is safe

  #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI || \
        CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_POCKET || \
        CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1
    ADD_BACKEND(new Buzzer());

  #else // other linux
    ADD_BACKEND(new AP_ToneAlarm());
  #endif

#elif CONFIG_HAL_BOARD == HAL_BOARD_SITL
    ADD_BACKEND(new AP_ToneAlarm());
    ADD_BACKEND(new Buzzer());
#ifdef WITH_SITL_RGBLED
    ADD_BACKEND(new SITL_SFML_LED());
#endif
#endif // Noise makers

}

// initialisation
void AP_Notify::init(void)
{
    // clear all flags and events
    memset(&AP_Notify::flags, 0, sizeof(AP_Notify::flags));
    memset(&AP_Notify::events, 0, sizeof(AP_Notify::events));

    // add all the backends
    add_backends();
}

// main update function, called at 50Hz
void AP_Notify::update(void)
{
    for (uint8_t i = 0; i < _num_devices; i++) {
        if (_devices[i] != nullptr) {
            _devices[i]->update();
        }
    }

    //reset the events
    memset(&AP_Notify::events, 0, sizeof(AP_Notify::events));
}

// handle a LED_CONTROL message
void AP_Notify::handle_led_control(const mavlink_message_t &msg)
{
    for (uint8_t i = 0; i < _num_devices; i++) {
        if (_devices[i] != nullptr) {
            _devices[i]->handle_led_control(msg);
        }
    }
}

// handle RGB from Scripting or AP_Periph
void AP_Notify::handle_rgb(uint8_t r, uint8_t g, uint8_t b, uint8_t rate_hz)
{
    for (uint8_t i = 0; i < _num_devices; i++) {
        if (_devices[i] != nullptr) {
            _devices[i]->rgb_control(r, g, b, rate_hz);
        }
    }
}

// handle RGB Per led from Scripting
void AP_Notify::handle_rgb_id(uint8_t r, uint8_t g, uint8_t b, uint8_t id)
{
    for (uint8_t i = 0; i < _num_devices; i++) {
        if (_devices[i] != nullptr) {
            _devices[i]->rgb_set_id(r, g, b, id);
        }
    }
}

// handle a PLAY_TUNE message
void AP_Notify::handle_play_tune(const mavlink_message_t &msg)
{
    for (uint8_t i = 0; i < _num_devices; i++) {
        if (_devices[i] != nullptr) {
            _devices[i]->handle_play_tune(msg);
        }
    }
}

void AP_Notify::play_tune(const char *tune)
{
    for (uint8_t i = 0; i < _num_devices; i++) {
        if (_devices[i] != nullptr) {
            _devices[i]->play_tune(tune);
        }
    }
}

// set flight mode string
void AP_Notify::set_flight_mode_str(const char *str)
{
    strncpy(_flight_mode_str, str, 4);
    _flight_mode_str[sizeof(_flight_mode_str)-1] = 0;
}

void AP_Notify::send_text(const char *str)
{
    strncpy(_send_text, str, sizeof(_send_text));
    _send_text[sizeof(_send_text)-1] = 0;
    _send_text_updated_millis = AP_HAL::millis();
}

// convert 0-3 to 0-100
int8_t AP_Notify::get_rgb_led_brightness_percent() const
{
    switch (_rgb_led_brightness) {
    default:
    case RGB_LED_OFF:
        return 0;
    case RGB_LED_LOW:
        return 33;
    case RGB_LED_MEDIUM:
        return 66;
    case RGB_LED_HIGH:
        return 100;
    }
}

namespace AP {

AP_Notify &notify()
{
    return *AP_Notify::get_singleton();
}

};