/*
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 .
*/
#pragma once
#include
#include
#include
#include "NotifyDevice.h"
// Device parameters values
#define RGB_LED_OFF 0
#define RGB_LED_LOW 1
#define RGB_LED_MEDIUM 2
#define RGB_LED_HIGH 3
#define BUZZER_ON 1
#define BUZZER_OFF 0
#define NOTIFY_TEXT_BUFFER_SIZE 51
//Type of on-board display
#define DISPLAY_OFF 0
#define DISPLAY_SSD1306 1
#define DISPLAY_SH1106 2
class AP_Notify
{
friend class RGBLed; // RGBLed needs access to notify parameters
friend class Display; // Display needs access to notify parameters
public:
AP_Notify();
/* Do not allow copies */
AP_Notify(const AP_Notify &other) = delete;
AP_Notify &operator=(const AP_Notify&) = delete;
// get singleton instance
static AP_Notify *instance(void) {
return _instance;
}
// Oreo LED Themes
enum Oreo_LED_Theme {
OreoLED_Disabled = 0, // Disabled the OLED driver entirely
OreoLED_Aircraft = 1, // Standard aviation themed lighting
OreoLED_Automobile = 2, // Automobile themed lighting (white front, red back)
};
/// notify_flags_type - bitmask of notification flags
struct notify_flags_and_values_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 gps_num_sats : 6; // number of sats
uint32_t flight_mode : 8; // flight mode
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)
uint32_t firmware_update : 1; // 1 just before vehicle firmware is updated
uint32_t compass_cal_running: 1; // 1 if a compass calibration is running
uint32_t leak_detected : 1; // 1 if leak detected
float battery_voltage ; // battery voltage
uint32_t gps_fusion : 1; // 0 = GPS fix rejected by EKF, not usable for flight. 1 = GPS in use by EKF, usable for flight
uint32_t gps_glitching : 1; // 1 if GPS glitching is affecting navigation accuracy
uint32_t have_pos_abs : 1; // 0 = no absolute position available, 1 = absolute position available
// 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)
uint32_t waiting_for_throw : 1; // 1 when copter is in THROW mode and waiting to detect the user hand launch
uint32_t powering_off : 1; // 1 when the vehicle is powering off
uint32_t video_recording : 1; // 1 when the vehicle is recording video
};
/// 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 {
uint32_t arming_failed : 1; // 1 if copter failed to arm after user input
uint32_t user_mode_change : 1; // 1 if user has initiated a flight mode change
uint32_t user_mode_change_failed: 1; // 1 when user initiated flight mode change fails
uint32_t failsafe_mode_change : 1; // 1 when failsafe has triggered a flight mode change
uint32_t autotune_complete : 1; // 1 when autotune has successfully completed
uint32_t autotune_failed : 1; // 1 when autotune has failed
uint32_t autotune_next_axis : 1; // 1 when autotune has completed one axis and is moving onto the next
uint32_t mission_complete : 1; // 1 when the mission has completed successfully
uint32_t waypoint_complete : 1; // 1 as vehicle completes a waypoint
uint32_t initiated_compass_cal : 1; // 1 when user input to begin compass cal was accepted
uint32_t compass_cal_saved : 1; // 1 when compass calibration was just saved
uint32_t compass_cal_failed : 1; // 1 when compass calibration has just failed
uint32_t compass_cal_canceled : 1; // 1 when compass calibration was just canceled
uint32_t tune_started : 1; // tuning a parameter has started
uint32_t tune_next : 3; // tuning switched to next parameter
uint32_t tune_save : 1; // tuning saved parameters
uint32_t tune_error : 1; // tuning controller error
};
// The notify flags and values are static to allow direct class access
// without declaring the object.
static struct notify_flags_and_values_type flags;
static struct notify_events_type events;
// initialisation
void init(bool enable_external_leds);
// add all backends
void add_backends(void);
/// 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);
// handle a PLAY_TUNE message
static void handle_play_tune(mavlink_message_t* msg);
bool buzzer_enabled() const { return _buzzer_enable; }
// set flight mode string
void set_flight_mode_str(const char *str);
const char* get_flight_mode_str() const { return _flight_mode_str; }
// send text to display
void send_text(const char *str);
const char* get_text() const { return _send_text; }
static const struct AP_Param::GroupInfo var_info[];
uint8_t get_buzz_pin() const { return _buzzer_pin; }
private:
static AP_Notify *_instance;
// parameters
AP_Int8 _rgb_led_brightness;
AP_Int8 _rgb_led_override;
AP_Int8 _buzzer_enable;
AP_Int8 _display_type;
AP_Int8 _oreo_theme;
AP_Int8 _buzzer_pin;
char _send_text[NOTIFY_TEXT_BUFFER_SIZE];
uint32_t _send_text_updated_millis; // last time text changed
char _flight_mode_str[5];
static NotifyDevice* _devices[];
static uint8_t _num_devices;
};