ardupilot/libraries/AP_Notify/RGBLed.h

117 lines
4.6 KiB
C++

/*
* AP_Notify Library.
* based upon a prototype library by David "Buzz" Bussenschutt.
*/
/*
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 "NotifyDevice.h"
class RGBLed: public NotifyDevice {
public:
RGBLed(uint8_t led_off, uint8_t led_bright, uint8_t led_medium, uint8_t led_dim);
// set_rgb - set color as a combination of red, green and blue levels from 0 ~ 15
void set_rgb(uint8_t red, uint8_t green, uint8_t blue);
// update - updates led according to timed_updated. Should be
// called at 50Hz
virtual void update() override;
#if AP_NOTIFY_MAVLINK_LED_CONTROL_SUPPORT_ENABLED
// handle LED control, only used when LED_OVERRIDE=1
virtual void handle_led_control(const mavlink_message_t &msg) override;
#endif
// RGB control
// give RGB and flash rate, used with scripting
void rgb_control(uint8_t r, uint8_t g, uint8_t b, uint8_t rate_hz) override;
protected:
// methods implemented in hardware specific classes
virtual bool hw_set_rgb(uint8_t red, uint8_t green, uint8_t blue) = 0;
// set_rgb - set color as a combination of red, green and blue levels from 0 ~ 15
virtual void _set_rgb(uint8_t red, uint8_t green, uint8_t blue);
void update_override();
// meta-data common to all hw devices
uint8_t _red_curr, _green_curr, _blue_curr; // current colours displayed by the led
uint8_t _led_off;
uint8_t _led_bright;
uint8_t _led_medium;
uint8_t _led_dim;
struct {
uint8_t r, g, b;
uint8_t rate_hz;
uint32_t start_ms;
} _led_override;
private:
void update_colours();
uint32_t get_colour_sequence() const;
uint32_t get_colour_sequence_obc() const;
uint32_t get_colour_sequence_traffic_light() const;
uint8_t get_brightness(void) const;
#define DEFINE_COLOUR_SEQUENCE(S0, S1, S2, S3, S4, S5, S6, S7, S8, S9) \
((S0) << (0*3) | (S1) << (1*3) | (S2) << (2*3) | (S3) << (3*3) | (S4) << (4*3) | (S5) << (5*3) | (S6) << (6*3) | (S7) << (7*3) | (S8) << (8*3) | (S9) << (9*3))
#define DEFINE_COLOUR_SEQUENCE_SLOW(colour) \
DEFINE_COLOUR_SEQUENCE(colour,colour,colour,colour,colour,BLACK,BLACK,BLACK,BLACK,BLACK)
#define DEFINE_COLOUR_SEQUENCE_FAILSAFE(colour) \
DEFINE_COLOUR_SEQUENCE(YELLOW,YELLOW,YELLOW,YELLOW,YELLOW,colour,colour,colour,colour,colour)
#define DEFINE_COLOUR_SEQUENCE_SOLID(colour) \
DEFINE_COLOUR_SEQUENCE(colour,colour,colour,colour,colour,colour,colour,colour,colour,colour)
#define DEFINE_COLOUR_SEQUENCE_ALTERNATE(colour1, colour2) \
DEFINE_COLOUR_SEQUENCE(colour1,colour2,colour1,colour2,colour1,colour2,colour1,colour2,colour1,colour2)
#define BLACK 0
#define BLUE 1
#define GREEN 2
#define RED 4
#define YELLOW (RED|GREEN)
#define WHITE (RED|GREEN|BLUE)
const uint32_t sequence_initialising = DEFINE_COLOUR_SEQUENCE_ALTERNATE(RED,BLUE);
const uint32_t sequence_trim_or_esc = DEFINE_COLOUR_SEQUENCE(RED,BLUE,GREEN,RED,BLUE,GREEN,RED,BLUE,GREEN,BLACK);
const uint32_t sequence_failsafe_leak = DEFINE_COLOUR_SEQUENCE_FAILSAFE(WHITE);
const uint32_t sequence_failsafe_ekf = DEFINE_COLOUR_SEQUENCE_FAILSAFE(RED);
const uint32_t sequence_failsafe_gps_glitching = DEFINE_COLOUR_SEQUENCE_FAILSAFE(BLUE);
const uint32_t sequence_failsafe_radio_or_battery = DEFINE_COLOUR_SEQUENCE_FAILSAFE(BLACK);
const uint32_t sequence_armed = DEFINE_COLOUR_SEQUENCE_SOLID(GREEN);
const uint32_t sequence_armed_nogps = DEFINE_COLOUR_SEQUENCE_SOLID(BLUE);
const uint32_t sequence_prearm_failing = DEFINE_COLOUR_SEQUENCE(YELLOW,YELLOW,BLACK,BLACK,YELLOW,YELLOW,BLACK,BLACK,BLACK,BLACK);
const uint32_t sequence_disarmed_good_dgps = DEFINE_COLOUR_SEQUENCE_ALTERNATE(GREEN,BLACK);
const uint32_t sequence_disarmed_good_gps = DEFINE_COLOUR_SEQUENCE_SLOW(GREEN);
const uint32_t sequence_disarmed_bad_gps = DEFINE_COLOUR_SEQUENCE_SLOW(BLUE);
uint8_t last_step;
enum rgb_source_t {
standard = 0,
mavlink = 1,
obc = 2,
traffic_light = 3,
};
rgb_source_t rgb_source() const;
};