ardupilot/libraries/AP_Notify/AP_Notify.cpp

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/// -*- 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/>.
*/
#include "AP_Notify.h"
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// static flags, to allow for direct class update from device drivers
struct AP_Notify::notify_flags_type AP_Notify::flags;
struct AP_Notify::notify_events_type AP_Notify::events;
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
AP_BoardLED boardled;
ToshibaLED_PX4 toshibaled;
ToneAlarm_PX4 tonealarm;
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#if OREOLED_ENABLED
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OreoLED_PX4 oreoled;
NotifyDevice *AP_Notify::_devices[] = {&boardled, &toshibaled, &tonealarm, &oreoled};
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#else
NotifyDevice *AP_Notify::_devices[] = {&boardled, &toshibaled, &tonealarm};
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#endif
#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
Buzzer buzzer;
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_VRBRAIN_V45
AP_BoardLED boardled;
#else
VRBoard_LED boardled;
#endif
ToshibaLED_I2C toshibaled;
ExternalLED externalled;
NotifyDevice *AP_Notify::_devices[] = {&boardled, &toshibaled, &externalled, &buzzer};
#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
AP_BoardLED boardled;
NavioLED_I2C navioled;
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ToshibaLED_I2C toshibaled;
NotifyDevice *AP_Notify::_devices[] = {&boardled, &navioled, &toshibaled};
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
ToshibaLED_I2C toshibaled;
NotifyDevice *AP_Notify::_devices[] = {&toshibaled};
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
ToshibaLED_I2C toshibaled;
ToneAlarm_Linux tonealarm;
NotifyDevice *AP_Notify::_devices[] = {&toshibaled, &tonealarm};
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE
NotifyDevice *AP_Notify::_devices[0];
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2
AP_BoardLED boardled;
NotifyDevice *AP_Notify::_devices[] = {&boardled};
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH
AP_BoardLED boardled;
RCOutputRGBLed bhled(HAL_RCOUT_RGBLED_RED, HAL_RCOUT_RGBLED_GREEN, HAL_RCOUT_RGBLED_BLUE);
NotifyDevice *AP_Notify::_devices[] = {&boardled, &bhled};
#else
AP_BoardLED boardled;
ToshibaLED_I2C toshibaled;
ToneAlarm_Linux tonealarm;
NotifyDevice *AP_Notify::_devices[] = {&boardled, &toshibaled, &tonealarm};
#endif
#else
AP_BoardLED boardled;
ToshibaLED_I2C toshibaled;
NotifyDevice *AP_Notify::_devices[] = {&boardled, &toshibaled};
#endif
#define CONFIG_NOTIFY_DEVICES_COUNT (ARRAY_SIZE(AP_Notify::_devices))
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// initialisation
void AP_Notify::init(bool enable_external_leds)
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{
// clear all flags and events
memset(&AP_Notify::flags, 0, sizeof(AP_Notify::flags));
memset(&AP_Notify::events, 0, sizeof(AP_Notify::events));
AP_Notify::flags.external_leds = enable_external_leds;
for (uint8_t i = 0; i < CONFIG_NOTIFY_DEVICES_COUNT; i++) {
_devices[i]->init();
}
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}
// main update function, called at 50Hz
void AP_Notify::update(void)
{
for (uint8_t i = 0; i < CONFIG_NOTIFY_DEVICES_COUNT; i++) {
_devices[i]->update();
}
//reset the events
memset(&AP_Notify::events, 0, sizeof(AP_Notify::events));
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}
// handle a LED_CONTROL message
void AP_Notify::handle_led_control(mavlink_message_t *msg)
{
for (uint8_t i = 0; i < CONFIG_NOTIFY_DEVICES_COUNT; i++) {
_devices[i]->handle_led_control(msg);
}
}