ardupilot/libraries/AP_Notify/OreoLED_PX4.h

/*
   OreoLED I2C driver

   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 __OREOLED_PX4_H__
#define __OREOLED_PX4_H__

#if CONFIG_HAL_BOARD == HAL_BOARD_PX4

#include <AP_HAL/AP_HAL.h>
#include "NotifyDevice.h"
#include <drivers/drv_oreoled.h>

#define OREOLED_NUM_LEDS        4       // maximum number of individual LEDs connected to the oreo led cpu
#define OREOLED_INSTANCE_ALL    0xff    // instance number to indicate all LEDs (used for set_rgb and set_macro)
#define OREOLED_BRIGHT          0xff    // maximum brightness when flying (disconnected from usb)

class OreoLED_PX4 : public NotifyDevice
{
public:
    // constuctor
    OreoLED_PX4();

    // init - initialised the device
    bool init(void);

    // update - updates device according to timed_updated.  Should be
    // called at 50Hz
    void update();

    // healthy - return true if at least one LED is responding
    bool healthy() const { return _overall_health; }

    // handle a LED_CONTROL message, by default device ignore message
    void handle_led_control(mavlink_message_t *msg);

private:
    // update_timer - called by scheduler and updates PX4 driver with commands
    void update_timer(void);

    // set_rgb - set color as a combination of red, green and blue values for one or all LEDs
    void set_rgb(uint8_t instance, uint8_t red, uint8_t green, uint8_t blue);

    // set_macro - set macro for one or all LEDs
    void set_macro(uint8_t instance, enum oreoled_macro macro);

    // send_sync - force a syncronisation of the LEDs
    void send_sync(void);

    // oreo led modes (pattern, macro or rgb)
    enum oreoled_mode {
        OREOLED_MODE_PATTERN,
        OREOLED_MODE_MACRO,
        OREOLED_MODE_RGB,
        OREOLED_MODE_SYNC
    };

    // oreo_state structure holds possible state of an led
    struct oreo_state {
        enum oreoled_mode mode;
        enum oreoled_pattern pattern;
        enum oreoled_macro macro;
        uint8_t red;
        uint8_t green;
        uint8_t blue;

        // operator==
        inline bool operator==(const oreo_state &os) {
           return ((os.mode==mode) && (os.pattern==pattern) && (os.macro==macro) && (os.red==red) && (os.green==green) && (os.blue==blue));
        }
    };

    // private members
    bool    _overall_health;                        // overall health
    int     _oreoled_fd;                            // file descriptor
    bool    _send_required;                         // true when we need to send an update to at least one led
    volatile bool _state_desired_semaphore;         // true when we are updating the state desired values to ensure they are not sent prematurely
    oreo_state _state_desired[OREOLED_NUM_LEDS];    // desired state
    oreo_state _state_sent[OREOLED_NUM_LEDS];       // last state sent to led
    uint8_t _pattern_override;                      // holds last processed pattern override, 0 if we are not overriding a pattern
};

#endif // CONFIG_HAL_BOARD == HAL_BOARD_PX4

#endif // __OREOLED_PX4_H__