mirror of https://github.com/ArduPilot/ardupilot
95 lines
2.4 KiB
C++
95 lines
2.4 KiB
C++
/*
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Copyright (C) 2019 Peter Barker. All rights reserved.
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <AP_HAL/AP_HAL.h>
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#include <AP_Notify/AP_Notify.h>
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#include <stdio.h>
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#include <unistd.h>
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#ifdef WITH_SITL_RGBLED
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#include "SITL_SFML_LED.h"
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SITL_SFML_LED::SITL_SFML_LED():
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RGBLed((uint8_t)brightness::LED_OFF,
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(uint8_t)brightness::LED_HIGH,
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(uint8_t)brightness::LED_MEDIUM,
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(uint8_t)brightness::LED_LOW)
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{
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}
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void SITL_SFML_LED::update_thread(void)
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{
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sf::RenderWindow *w;
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{
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WITH_SEMAPHORE(AP::notify().sf_window_mutex);
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w = new sf::RenderWindow(sf::VideoMode(width, height), "LED");
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}
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if (!w) {
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AP_HAL::panic("Unable to create RGBLed window");
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}
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while (true) {
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{
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WITH_SEMAPHORE(AP::notify().sf_window_mutex);
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sf::Event event;
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while (w->pollEvent(event)) {
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if (event.type == sf::Event::Closed) {
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w->close();
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break;
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}
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}
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if (!w->isOpen()) {
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break;
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}
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const uint32_t colour = red<<16 | green<<8 | blue;
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if (colour != last_colour) {
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last_colour = colour;
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w->clear(sf::Color(red, green, blue, 255));
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w->display();
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}
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}
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usleep(10000);
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}
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}
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// trampoline for update thread
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void *SITL_SFML_LED::update_thread_start(void *obj)
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{
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((SITL_SFML_LED *)obj)->update_thread();
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return nullptr;
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}
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bool SITL_SFML_LED::hw_init()
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{
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pthread_create(&thread, NULL, update_thread_start, this);
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return true;
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}
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bool SITL_SFML_LED::hw_set_rgb(uint8_t _red, uint8_t _green, uint8_t _blue)
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{
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red = _red;
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green = _green;
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blue = _blue;
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return true;
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}
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#endif
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