mirror of https://github.com/ArduPilot/ardupilot
194 lines
8.2 KiB
C++
194 lines
8.2 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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#pragma once
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#include <AP_Common/AP_Common.h>
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#include <AP_Param/AP_Param.h>
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#include <GCS_MAVLink/GCS_MAVLink.h>
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#include "NotifyDevice.h"
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// Device parameters values
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#define RGB_LED_OFF 0
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#define RGB_LED_LOW 1
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#define RGB_LED_MEDIUM 2
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#define RGB_LED_HIGH 3
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#define BUZZER_ON 1
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#define BUZZER_OFF 0
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#define NOTIFY_TEXT_BUFFER_SIZE 51
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//Type of on-board display
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#define DISPLAY_OFF 0
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#define DISPLAY_SSD1306 1
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#define DISPLAY_SH1106 2
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class AP_Notify
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{
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friend class RGBLed; // RGBLed needs access to notify parameters
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friend class Display; // Display needs access to notify parameters
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public:
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AP_Notify();
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/* Do not allow copies */
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AP_Notify(const AP_Notify &other) = delete;
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AP_Notify &operator=(const AP_Notify&) = delete;
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// get singleton instance
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static AP_Notify *get_singleton(void) {
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return _singleton;
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}
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// Oreo LED Themes
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enum Oreo_LED_Theme {
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OreoLED_Disabled = 0, // Disabled the OLED driver entirely
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OreoLED_Aircraft = 1, // Standard aviation themed lighting
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OreoLED_Automobile = 2, // Automobile themed lighting (white front, red back)
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};
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enum Notify_LED_Type {
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Notify_LED_None = 0, // not enabled
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Notify_LED_Board = (1 << 0), // Built in board LED's
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Notify_LED_ToshibaLED_I2C_Internal = (1 << 1), // Internal ToshibaLED_I2C
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Notify_LED_ToshibaLED_I2C_External = (1 << 2), // External ToshibaLED_I2C
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Notify_LED_PCA9685LED_I2C_External = (1 << 3), // External PCA9685_I2C
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Notify_LED_OreoLED = (1 << 4), // Oreo
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Notify_LED_UAVCAN = (1 << 5), // UAVCAN RGB LED
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Notify_LED_NCP5623_I2C_External = (1 << 6), // External NCP5623
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Notify_LED_NCP5623_I2C_Internal = (1 << 7), // Internal NCP5623
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Notify_LED_MAX
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};
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/// notify_flags_type - bitmask of notification flags
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struct notify_flags_and_values_type {
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bool initialising; // true if initialising and the vehicle should not be moved
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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
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uint8_t gps_num_sats; // number of sats
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uint8_t flight_mode; // flight mode
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bool armed; // 0 = disarmed, 1 = armed
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bool flying; // 0 = not flying, 1 = flying/driving/diving/tracking
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bool pre_arm_check; // true if passing pre arm checks
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bool pre_arm_gps_check; // true if passing pre arm gps checks
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bool save_trim; // true if gathering trim data
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bool esc_calibration; // true if calibrating escs
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bool failsafe_radio; // true if radio failsafe
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bool failsafe_battery; // true if battery failsafe
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bool parachute_release; // true if parachute is being released
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bool ekf_bad; // true if ekf is reporting problems
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bool autopilot_mode; // true if vehicle is in an autopilot flight mode (only used by OreoLEDs)
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bool firmware_update; // true just before vehicle firmware is updated
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bool compass_cal_running; // true if a compass calibration is running
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bool leak_detected; // true if leak detected
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bool gps_fusion; // true if the GPS is in use by EKF, usable for flight
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bool gps_glitching; // true f the GPS is believed to be glitching is affecting navigation accuracy
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bool have_pos_abs; // true if absolute position is available
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bool vehicle_lost; // true when lost copter tone is requested (normally only used for copter)
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bool waiting_for_throw; // true when copter is in THROW mode and waiting to detect the user hand launch
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bool powering_off; // true when the vehicle is powering off
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bool video_recording; // true when the vehicle is recording video
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};
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/// notify_events_type - bitmask of active events.
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// Notify library is responsible for setting back to zero after notification has been completed
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struct notify_events_type {
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uint32_t arming_failed : 1; // 1 if copter failed to arm after user input
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uint32_t user_mode_change : 1; // 1 if user has initiated a flight mode change
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uint32_t user_mode_change_failed: 1; // 1 when user initiated flight mode change fails
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uint32_t failsafe_mode_change : 1; // 1 when failsafe has triggered a flight mode change
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uint32_t autotune_complete : 1; // 1 when autotune has successfully completed
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uint32_t autotune_failed : 1; // 1 when autotune has failed
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uint32_t autotune_next_axis : 1; // 1 when autotune has completed one axis and is moving onto the next
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uint32_t mission_complete : 1; // 1 when the mission has completed successfully
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uint32_t waypoint_complete : 1; // 1 as vehicle completes a waypoint
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uint32_t initiated_compass_cal : 1; // 1 when user input to begin compass cal was accepted
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uint32_t compass_cal_saved : 1; // 1 when compass calibration was just saved
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uint32_t compass_cal_failed : 1; // 1 when compass calibration has just failed
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uint32_t compass_cal_canceled : 1; // 1 when compass calibration was just canceled
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uint32_t tune_started : 1; // tuning a parameter has started
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uint32_t tune_next : 3; // tuning switched to next parameter
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uint32_t tune_save : 1; // tuning saved parameters
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uint32_t tune_error : 1; // tuning controller error
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};
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// The notify flags and values are static to allow direct class access
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// without declaring the object.
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static struct notify_flags_and_values_type flags;
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static struct notify_events_type events;
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// initialisation
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void init(void);
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/// update - allow updates of leds that cannot be updated during a timed interrupt
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void update(void);
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// handle a LED_CONTROL message
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static void handle_led_control(mavlink_message_t* msg);
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// handle a PLAY_TUNE message
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static void handle_play_tune(mavlink_message_t* msg);
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// play a tune string
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static void play_tune(const char *tune);
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bool buzzer_enabled() const { return _buzzer_enable; }
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// set flight mode string
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void set_flight_mode_str(const char *str);
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const char* get_flight_mode_str() const { return _flight_mode_str; }
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// send text to display
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void send_text(const char *str);
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const char* get_text() const { return _send_text; }
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uint32_t get_text_updated_millis() const {return _send_text_updated_millis; }
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static const struct AP_Param::GroupInfo var_info[];
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uint8_t get_buzz_pin() const { return _buzzer_pin; }
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uint8_t get_buzz_level() const { return _buzzer_level; }
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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HAL_Semaphore sf_window_mutex;
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#endif
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private:
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static AP_Notify *_singleton;
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void add_backend_helper(NotifyDevice *backend);
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// add all backends
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void add_backends(void);
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// parameters
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AP_Int8 _rgb_led_brightness;
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AP_Int8 _rgb_led_override;
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AP_Int8 _buzzer_enable;
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AP_Int8 _display_type;
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AP_Int8 _oreo_theme;
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AP_Int8 _buzzer_pin;
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AP_Int32 _led_type;
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AP_Int8 _buzzer_level;
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char _send_text[NOTIFY_TEXT_BUFFER_SIZE];
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uint32_t _send_text_updated_millis; // last time text changed
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char _flight_mode_str[5];
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static NotifyDevice* _devices[];
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static uint8_t _num_devices;
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};
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namespace AP {
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AP_Notify ¬ify();
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};
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