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AP_Notify: update header references

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This commit is contained in:
Andrew Tridgell 2023-04-08 13:55:40 +10:00
parent 5952eb1249
commit a6d0738d80
2 changed files with 0 additions and 91 deletions
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73
libraries/AP_Notify/UAVCAN_RGB_LED.cpp
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@ -1,73 +0,0 @@
/*
* Copyright (C) 2017 Emlid Ltd. All rights reserved.
*
* This file 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 file 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_HAL/AP_HAL.h>
#include <AP_HAL/system.h>
#if HAL_ENABLE_LIBUAVCAN_DRIVERS
#include "UAVCAN_RGB_LED.h"
#include <AP_DroneCAN/AP_DroneCAN.h>
#include <AP_CANManager/AP_CANManager.h>
#define LED_OFF 0
#define LED_FULL_BRIGHT 255
#define LED_MEDIUM ((LED_FULL_BRIGHT / 5) * 4)
#define LED_DIM ((LED_FULL_BRIGHT / 5) * 2)
UAVCAN_RGB_LED::UAVCAN_RGB_LED(uint8_t led_index)
: UAVCAN_RGB_LED(led_index, LED_OFF,
LED_FULL_BRIGHT, LED_MEDIUM, LED_DIM)
{
}
UAVCAN_RGB_LED::UAVCAN_RGB_LED(uint8_t led_index, uint8_t led_off,
uint8_t led_full, uint8_t led_medium,
uint8_t led_dim)
: RGBLed(led_off, led_full, led_medium, led_dim)
, _led_index(led_index)
{
}
bool UAVCAN_RGB_LED::init()
{
const uint8_t can_num_drivers = AP::can().get_num_drivers();
for (uint8_t i = 0; i < can_num_drivers; i++) {
AP_DroneCAN *uavcan = AP_DroneCAN::get_uavcan(i);
if (uavcan != nullptr) {
return true;
}
}
// no UAVCAN drivers
return false;
}
bool UAVCAN_RGB_LED::hw_set_rgb(uint8_t red, uint8_t green, uint8_t blue)
{
bool success = false;
uint8_t can_num_drivers = AP::can().get_num_drivers();
for (uint8_t i = 0; i < can_num_drivers; i++) {
AP_DroneCAN *uavcan = AP_DroneCAN::get_uavcan(i);
if (uavcan != nullptr) {
success = uavcan->led_write(_led_index, red, green, blue) || success;
}
}
return success;
}
#endif

18
libraries/AP_Notify/UAVCAN_RGB_LED.h
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#pragma once
#include "RGBLed.h"
class UAVCAN_RGB_LED: public RGBLed {
public:
UAVCAN_RGB_LED(uint8_t led_index, uint8_t led_off, uint8_t led_full,
uint8_t led_medium, uint8_t led_dim);
UAVCAN_RGB_LED(uint8_t led_index);
bool init() override;
protected:
virtual bool hw_set_rgb(uint8_t red, uint8_t green, uint8_t blue) override;
private:
uint8_t _led_index;
};