mirror of https://github.com/ArduPilot/ardupilot
291 lines
9.8 KiB
C++
291 lines
9.8 KiB
C++
/*
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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_Notify.h"
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#include "AP_BoardLED.h"
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#include "PixRacerLED.h"
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#include "Buzzer.h"
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#include "Display.h"
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#include "ExternalLED.h"
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#include "NavioLED_I2C.h"
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#include "OreoLED_PX4.h"
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#include "RCOutputRGBLed.h"
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#include "ToneAlarm_Linux.h"
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#include "ToneAlarm_PX4.h"
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#include "ToshibaLED.h"
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#include "ToshibaLED_I2C.h"
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#include "VRBoard_LED.h"
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#include "DiscreteRGBLed.h"
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#include "DiscoLED.h"
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#include "Led_Sysfs.h"
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#include <stdio.h>
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AP_Notify *AP_Notify::_instance;
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#define CONFIG_NOTIFY_DEVICES_MAX 6
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#define TOSHIBA_LED_I2C_BUS_INTERNAL 0
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#define TOSHIBA_LED_I2C_BUS_EXTERNAL 1
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// table of user settable parameters
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const AP_Param::GroupInfo AP_Notify::var_info[] = {
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// @Param: LED_BRIGHT
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// @DisplayName: LED Brightness
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// @Description: Select the RGB LED brightness level. When USB is connected brightness will never be higher than low regardless of the setting.
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// @Values: 0:Off,1:Low,2:Medium,3:High
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// @User: Advanced
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AP_GROUPINFO("LED_BRIGHT", 0, AP_Notify, _rgb_led_brightness, RGB_LED_HIGH),
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// @Param: BUZZ_ENABLE
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// @DisplayName: Buzzer enable
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// @Description: Enable or disable the buzzer. Only for Linux and PX4 based boards.
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// @Values: 0:Disable,1:Enable
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// @User: Advanced
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AP_GROUPINFO("BUZZ_ENABLE", 1, AP_Notify, _buzzer_enable, BUZZER_ON),
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// @Param: LED_OVERRIDE
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// @DisplayName: Setup for MAVLink LED override
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// @Description: This sets up the board RGB LED for override by MAVLink. Normal notify LED control is disabled
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// @Values: 0:Disable,1:Enable
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// @User: Advanced
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AP_GROUPINFO("LED_OVERRIDE", 2, AP_Notify, _rgb_led_override, 0),
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// @Param: DISPLAY_TYPE
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// @DisplayName: Type of on-board I2C display
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// @Description: This sets up the type of on-board I2C display. Disabled by default.
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// @Values: 0:Disable,1:ssd1306,2:sh1106
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// @User: Advanced
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AP_GROUPINFO("DISPLAY_TYPE", 3, AP_Notify, _display_type, 0),
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// @Param: OREO_THEME
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// @DisplayName: OreoLED Theme
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// @Description: Enable/Disable Solo Oreo LED driver, 0 to disable, 1 for Aircraft theme, 2 for Rover theme
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// @Values: 0:Disabled,1:Aircraft,2:Rover
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// @User: Advanced
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AP_GROUPINFO("OREO_THEME", 4, AP_Notify, _oreo_theme, 0),
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AP_GROUPEND
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};
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// Default constructor
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AP_Notify::AP_Notify()
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{
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AP_Param::setup_object_defaults(this, var_info);
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if (_instance != nullptr) {
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AP_HAL::panic("AP_Notify must be singleton");
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}
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_instance = this;
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}
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// static flags, to allow for direct class update from device drivers
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struct AP_Notify::notify_flags_and_values_type AP_Notify::flags;
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struct AP_Notify::notify_events_type AP_Notify::events;
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NotifyDevice *AP_Notify::_devices[CONFIG_NOTIFY_DEVICES_MAX];
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uint8_t AP_Notify::_num_devices;
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#define ADD_BACKEND(backend) do { _devices[_num_devices++] = backend; if (_num_devices >= CONFIG_NOTIFY_DEVICES_MAX) return;} while(0)
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// add notify backends to _devices array
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void AP_Notify::add_backends(void)
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{
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if (_num_devices != 0) {
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return;
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}
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// Notify devices for PX4 boards
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_PX4_V3 // Has enough memory for Oreo LEDs
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ADD_BACKEND(new AP_BoardLED());
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ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_EXTERNAL));
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ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_INTERNAL));
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ADD_BACKEND(new ToneAlarm_PX4());
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ADD_BACKEND(new Display());
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// Oreo LED enable/disable by NTF_OREO_THEME parameter
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if (_oreo_theme) {
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ADD_BACKEND(new OreoLED_PX4(_oreo_theme));
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}
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_PX4_V4 // Has its own LED board
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ADD_BACKEND(new PixRacerLED());
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ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_EXTERNAL));
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ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_INTERNAL));
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ADD_BACKEND(new ToneAlarm_PX4());
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ADD_BACKEND(new Display());
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#else // All other px4 boards use standard devices.
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ADD_BACKEND(new AP_BoardLED());
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ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_EXTERNAL));
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ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_INTERNAL));
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ADD_BACKEND(new ToneAlarm_PX4());
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ADD_BACKEND(new Display());
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#endif
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// Notify devices for VRBRAIN boards
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#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_VRBRAIN_V45 // Uses px4 LED board
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ADD_BACKEND(new AP_BoardLED());
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ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_EXTERNAL));
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ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_INTERNAL));
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ADD_BACKEND(new ToneAlarm_PX4());
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ADD_BACKEND(new ExternalLED());
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#else
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ADD_BACKEND(new VRBoard_LED());
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ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_EXTERNAL));
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ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_INTERNAL));
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ADD_BACKEND(new ToneAlarm_PX4());
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ADD_BACKEND(new ExternalLED());
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#endif
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// Notify devices for linux boards
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#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
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ADD_BACKEND(new AP_BoardLED());
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ADD_BACKEND(new NavioLED_I2C());
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ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_EXTERNAL));
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ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_INTERNAL));
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2
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ADD_BACKEND(new Led_Sysfs("rgb_led0", "rgb_led2", "rgb_led1"));
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ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_EXTERNAL));
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ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_INTERNAL));
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE
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ADD_BACKEND(new RCOutputRGBLedInverted(12, 13, 14));
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ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_EXTERNAL));
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ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_INTERNAL));
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
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ADD_BACKEND(new AP_BoardLED());
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ADD_BACKEND(new Buzzer());
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ADD_BACKEND(new Display());
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE
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ADD_BACKEND(new AP_BoardLED());
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ADD_BACKEND(new Display());
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_POCKET
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ADD_BACKEND(new AP_BoardLED());
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ADD_BACKEND(new Buzzer());
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ADD_BACKEND(new Display());
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE
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ADD_BACKEND(new RCOutputRGBLedOff(15, 13, 14, 255));
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI
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ADD_BACKEND(new AP_BoardLED());
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH
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ADD_BACKEND(new AP_BoardLED());
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ADD_BACKEND(new RCOutputRGBLed(HAL_RCOUT_RGBLED_RED, HAL_RCOUT_RGBLED_GREEN, HAL_RCOUT_RGBLED_BLUE));
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
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ADD_BACKEND(new DiscoLED());
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ADD_BACKEND(new ToneAlarm_Linux());
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RST_ZYNQ
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ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_EXTERNAL));
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#else // other linux
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ADD_BACKEND(new AP_BoardLED());
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ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_EXTERNAL));
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ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_INTERNAL));
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ADD_BACKEND(new ToneAlarm_Linux());
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#endif
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#else
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ADD_BACKEND(new AP_BoardLED());
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ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_EXTERNAL));
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ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_INTERNAL));
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ADD_BACKEND(new Display());
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#endif
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}
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// initialisation
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void AP_Notify::init(bool enable_external_leds)
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{
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// add all the backends
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add_backends();
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// clear all flags and events
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memset(&AP_Notify::flags, 0, sizeof(AP_Notify::flags));
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memset(&AP_Notify::events, 0, sizeof(AP_Notify::events));
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// clear flight mode string and text buffer
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memset(_flight_mode_str, 0, sizeof(_flight_mode_str));
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memset(_send_text, 0, sizeof(_send_text));
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_send_text_updated_millis = 0;
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AP_Notify::flags.external_leds = enable_external_leds;
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for (uint8_t i = 0; i < _num_devices; i++) {
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if (_devices[i] != nullptr) {
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_devices[i]->pNotify = this;
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_devices[i]->init();
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}
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}
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}
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// main update function, called at 50Hz
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void AP_Notify::update(void)
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{
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for (uint8_t i = 0; i < _num_devices; i++) {
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if (_devices[i] != nullptr) {
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_devices[i]->update();
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}
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}
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//reset the events
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memset(&AP_Notify::events, 0, sizeof(AP_Notify::events));
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}
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// handle a LED_CONTROL message
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void AP_Notify::handle_led_control(mavlink_message_t *msg)
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{
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for (uint8_t i = 0; i < _num_devices; i++) {
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if (_devices[i] != nullptr) {
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_devices[i]->handle_led_control(msg);
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}
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}
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}
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// handle a PLAY_TUNE message
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void AP_Notify::handle_play_tune(mavlink_message_t *msg)
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{
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for (uint8_t i = 0; i < _num_devices; i++) {
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if (_devices[i] != nullptr) {
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_devices[i]->handle_play_tune(msg);
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}
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}
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}
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// set flight mode string
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void AP_Notify::set_flight_mode_str(const char *str)
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{
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strncpy(_flight_mode_str, str, 4);
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_flight_mode_str[sizeof(_flight_mode_str)-1] = 0;
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}
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void AP_Notify::send_text(const char *str)
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{
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strncpy(_send_text, str, sizeof(_send_text));
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_send_text[sizeof(_send_text)-1] = 0;
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_send_text_updated_millis = AP_HAL::millis();
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}
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