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ardupilot/libraries/AP_Notify/AP_Notify.h

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/*
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/>.
*/
#pragma once
#include <AP_Common/AP_Common.h>
#include <AP_Param/AP_Param.h>
#include "AP_Notify_config.h"
#include <AP_IOMCU/AP_IOMCU.h>
#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 NOTIFY_TEXT_BUFFER_SIZE 51
//Type of on-board display
#define DISPLAY_OFF 0
#define DISPLAY_SSD1306 1
#define DISPLAY_SH1106 2
#define DISPLAY_SITL 10
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 */
CLASS_NO_COPY(AP_Notify);
// get singleton instance
static AP_Notify *get_singleton(void) {
return _singleton;
}
enum Notify_LED_Type {
Notify_LED_None = 0, // not enabled
Notify_LED_Board = (1 << 0), // Built in board LED's
#if AP_NOTIFY_TOSHIBALED_ENABLED
Notify_LED_ToshibaLED_I2C_Internal = (1 << 1), // Internal ToshibaLED_I2C
Notify_LED_ToshibaLED_I2C_External = (1 << 2), // External ToshibaLED_I2C
#endif
#if AP_NOTIFY_PCA9685_ENABLED
Notify_LED_PCA9685LED_I2C_External = (1 << 3), // External PCA9685_I2C
#endif
#if AP_NOTIFY_OREOLED_ENABLED
Notify_LED_OreoLED = (1 << 4), // Oreo
#endif
#if AP_NOTIFY_DRONECAN_LED_ENABLED
Notify_LED_DroneCAN = (1 << 5), // UAVCAN RGB LED
#endif
#if AP_NOTIFY_NCP5623_ENABLED
Notify_LED_NCP5623_I2C_External = (1 << 6), // External NCP5623
Notify_LED_NCP5623_I2C_Internal = (1 << 7), // Internal NCP5623
#endif
#if AP_NOTIFY_NEOPIXEL_ENABLED
Notify_LED_NeoPixel = (1 << 8), // NeoPixel 5050 AdaFruit 1655 SK6812 Worldsemi WS2812B
#endif
#if AP_NOTIFY_PROFILED_ENABLED
Notify_LED_ProfiLED = (1 << 9), // ProfiLED
#endif
#if AP_NOTIFY_SCRIPTING_LED_ENABLED
Notify_LED_Scripting = (1 << 10),// Colour accessor for scripting
#endif
#if AP_NOTIFY_DSHOT_LED_ENABLED
Notify_LED_DShot = (1 << 11),// Use dshot commands to set ESC LEDs
#endif
#if AP_NOTIFY_PROFILED_SPI_ENABLED
Notify_LED_ProfiLED_SPI = (1 << 12), // ProfiLED (SPI)
#endif
#if AP_NOTIFY_LP5562_ENABLED
Notify_LED_LP5562_I2C_External = (1 << 13), // LP5562
Notify_LED_LP5562_I2C_Internal = (1 << 14), // LP5562
#endif
#if AP_NOTIFY_IS31FL3195_ENABLED
Notify_LED_IS31FL3195_I2C_External = (1 << 15), // IS31FL3195
Notify_LED_IS31FL3195_I2C_Internal = (1 << 16), // IS31FL3195
#endif
#if AP_NOTIFY_DISCRETE_RGB_ENABLED
Notify_LED_DiscreteRGB = (1 << 17), // DiscreteRGB
#endif
#if AP_NOTIFY_NEOPIXEL_ENABLED
Notify_LED_NeoPixelRGB = (1 << 18), // NeoPixel AdaFruit 4544 Worldsemi WS2811
#endif
#if HAL_WITH_IO_MCU && AP_IOMCU_PROFILED_SUPPORT_ENABLED
Notify_LED_ProfiLED_IOMCU = (1 << 19), // ProfiLED IOMCU
#endif
Notify_LED_MAX
};
enum class BuzzerType : uint8_t {
NONE = 0,
BUILTIN = (1 << 0), // Built in default Alarm Out
DSHOT = (1 << 1), // DShot Alarm
UAVCAN = (1 << 2), // UAVCAN Alarm
};
/// notify_flags_type - bitmask of notification flags
struct notify_flags_and_values_type {
bool initialising; // true if initialising and the vehicle should not be moved
uint8_t gps_status; // see the GPS_0 = no gps, 1 = no lock, 2 = 2d lock, 3 = 3d lock, 4 = dgps lock, 5 = rtk lock
uint8_t gps_num_sats; // number of sats
uint8_t flight_mode; // flight mode
bool armed; // 0 = disarmed, 1 = armed
bool flying; // 0 = not flying, 1 = flying/driving/diving/tracking
bool pre_arm_check; // true if passing pre arm checks
bool pre_arm_gps_check; // true if passing pre arm gps checks
bool save_trim; // true if gathering trim data
bool esc_calibration; // true if calibrating escs
bool failsafe_radio; // true if radio failsafe
bool failsafe_battery; // true if battery failsafe
bool failsafe_gcs; // true if GCS failsafe
bool failsafe_ekf; // true if ekf failsafe
bool parachute_release; // true if parachute is being released
bool ekf_bad; // true if ekf is reporting problems
bool autopilot_mode; // true if vehicle is in an autopilot flight mode (only used by OreoLEDs)
bool firmware_update; // true just before vehicle firmware is updated
bool compass_cal_running; // true if a compass calibration is running
bool leak_detected; // true if leak detected
bool gps_fusion; // true if the GPS is in use by EKF, usable for flight
bool gps_glitching; // true f the GPS is believed to be glitching is affecting navigation accuracy
bool have_pos_abs; // true if absolute position is available
bool vehicle_lost; // true when lost copter tone is requested (normally only used for copter)
bool waiting_for_throw; // true when copter is in THROW mode and waiting to detect the user hand launch
bool powering_off; // true when the vehicle is powering off
bool video_recording; // true when the vehicle is recording video
bool temp_cal_running; // true if a temperature calibration is running
bool gyro_calibrated; // true if calibrated gyro/acc
};
/// 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
uint32_t initiated_temp_cal : 1; // 1 when temperature calibration starts
uint32_t temp_cal_saved : 1; // 1 when temperature calibration was just saved
uint32_t temp_cal_failed : 1; // 1 when temperature calibration has just failed
};
// 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(void);
/// update - allow updates of leds that cannot be updated during a timed interrupt
void update(void);
#if AP_NOTIFY_MAVLINK_LED_CONTROL_SUPPORT_ENABLED
// handle a LED_CONTROL message
static void handle_led_control(const mavlink_message_t &msg);
#endif
// handle RGB from Scripting or AP_Periph
static void handle_rgb(uint8_t r, uint8_t g, uint8_t b, uint8_t rate_hz = 0);
// handle RGB from Scripting
static void handle_rgb_id(uint8_t r, uint8_t g, uint8_t b, uint8_t id);
#if AP_NOTIFY_MAVLINK_PLAY_TUNE_SUPPORT_ENABLED
// handle a PLAY_TUNE message
static void handle_play_tune(const mavlink_message_t &msg);
#endif
// play a tune string
static void play_tune(const char *tune);
bool buzzer_enabled() const { return _buzzer_type != 0; }
uint8_t get_buzzer_types() const { return _buzzer_type; }
// 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; }
uint32_t get_text_updated_millis() const {return _send_text_updated_millis; }
#if AP_SCRIPTING_ENABLED
// send text to the display using scripting
void send_text_scripting(const char *str, uint8_t r);
void release_text_scripting(uint8_t r);
#endif
static const struct AP_Param::GroupInfo var_info[];
int8_t get_buzz_pin() const { return _buzzer_pin; }
uint8_t get_buzz_level() const { return _buzzer_level; }
uint8_t get_buzz_volume() const { return _buzzer_volume; }
uint8_t get_led_len() const { return _led_len; }
uint32_t get_led_type() const { return _led_type; }
int8_t get_rgb_led_brightness_percent() const;
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
HAL_Semaphore sf_window_mutex;
#endif
private:
static AP_Notify *_singleton;
void add_backend_helper(NotifyDevice *backend);
// add all backends
void add_backends(void);
// parameters
AP_Int8 _rgb_led_brightness;
AP_Int8 _rgb_led_override;
AP_Int8 _buzzer_type;
AP_Int8 _display_type;
AP_Int8 _oreo_theme;
AP_Int8 _buzzer_pin;
AP_Int32 _led_type;
AP_Int8 _buzzer_level;
AP_Int8 _buzzer_volume;
AP_Int8 _led_len;
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;
};
namespace AP {
AP_Notify &notify();
};
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