ardupilot/libraries/AP_Notify/AP_Notify.h

/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-

/*
   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/>.
 */

#ifndef __AP_NOTIFY_H__
#define __AP_NOTIFY_H__

#include <AP_Common.h>
#include <GCS_MAVLink.h>
#include <AP_BoardLED.h>
#include <ToshibaLED.h>
#include <ToshibaLED_I2C.h>
#include <ToshibaLED_PX4.h>
#include <ToneAlarm_PX4.h>
#include <ToneAlarm_Linux.h>
#include <NavioLED_I2C.h>
#include <ExternalLED.h>
#include <Buzzer.h>
#include <VRBoard_LED.h>
#include <OreoLED_PX4.h>

#ifndef OREOLED_ENABLED
 # define OREOLED_ENABLED   0   // set to 1 to enable OreoLEDs
#endif

#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
    #define CONFIG_NOTIFY_DEVICES_COUNT (3+OREOLED_ENABLED)
#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_APM2 
    #define CONFIG_NOTIFY_DEVICES_COUNT 3
#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
    #define CONFIG_NOTIFY_DEVICES_COUNT 4
#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
    #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
        #define CONFIG_NOTIFY_DEVICES_COUNT 2
    #else
        #define CONFIG_NOTIFY_DEVICES_COUNT 3
    #endif
#else
    #define CONFIG_NOTIFY_DEVICES_COUNT 2
#endif

class AP_Notify
{
public:
    /// notify_flags_type - bitmask of notification flags
    struct notify_flags_type {
        uint32_t initialising       : 1;    // 1 if initialising and copter should not be moved
        uint32_t gps_status         : 3;    // 0 = no gps, 1 = no lock, 2 = 2d lock, 3 = 3d lock, 4 = dgps lock, 5 = rtk lock
        uint32_t armed              : 1;    // 0 = disarmed, 1 = armed
        uint32_t pre_arm_check      : 1;    // 0 = failing checks, 1 = passed
        uint32_t pre_arm_gps_check  : 1;    // 0 = failing pre-arm GPS checks, 1 = passed
        uint32_t save_trim          : 1;    // 1 if gathering trim data
        uint32_t esc_calibration    : 1;    // 1 if calibrating escs
        uint32_t failsafe_radio     : 1;    // 1 if radio failsafe
        uint32_t failsafe_battery   : 1;    // 1 if battery failsafe
        uint32_t parachute_release  : 1;    // 1 if parachute is being released
        uint32_t ekf_bad            : 1;    // 1 if ekf is reporting problems
        uint32_t autopilot_mode     : 1;    // 1 if vehicle is in an autopilot flight mode (only used by OreoLEDs)

        // additional flags
        uint32_t external_leds      : 1;    // 1 if external LEDs are enabled (normally only used for copter)
        uint32_t vehicle_lost       : 1;    // 1 when lost copter tone is requested (normally only used for copter)
    };

    /// notify_events_type - bitmask of active events.
    //      Notify library is responsible for setting back to zero after notification has been completed
    struct notify_events_type {
        uint16_t arming_failed          : 1;    // 1 if copter failed to arm after user input
        uint16_t user_mode_change       : 1;    // 1 if user has initiated a flight mode change
        uint16_t user_mode_change_failed: 1;    // 1 when user initiated flight mode change fails
        uint16_t failsafe_mode_change   : 1;    // 1 when failsafe has triggered a flight mode change
        uint16_t autotune_complete      : 1;    // 1 when autotune has successfully completed
        uint16_t autotune_failed        : 1;    // 1 when autotune has failed
        uint16_t autotune_next_axis     : 1;    // 1 when autotune has completed one axis and is moving onto the next
        uint16_t mission_complete       : 1;    // 1 when the mission has completed successfully
        uint16_t waypoint_complete      : 1;    // 1 as vehicle completes a waypoint
        uint16_t firmware_update        : 1;    // 1 just before vehicle firmware is updated
    };

    // the notify flags are static to allow direct class access
    // without declaring the object
    static struct notify_flags_type flags;
    static struct notify_events_type events;

    // initialisation
    void init(bool enable_external_leds);

    /// update - allow updates of leds that cannot be updated during a timed interrupt
    void update(void);

    // handle a LED_CONTROL message
    static void handle_led_control(mavlink_message_t* msg);

private:
    static NotifyDevice* _devices[CONFIG_NOTIFY_DEVICES_COUNT];
};

#endif    // __AP_NOTIFY_H__