ardupilot/libraries/AP_Notify/AP_Notify.h

111 lines
4.7 KiB
C++

/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
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/>.
*/
#ifndef __AP_NOTIFY_H__
#define __AP_NOTIFY_H__
#include <AP_Common.h>
#include <GCS_MAVLink.h>
#include <AP_BoardLED.h>
#include <ToshibaLED.h>
#include <ToshibaLED_I2C.h>
#include <ToshibaLED_PX4.h>
#include <ToneAlarm_PX4.h>
#include <ToneAlarm_Linux.h>
#include <NavioLED_I2C.h>
#include <ExternalLED.h>
#include <Buzzer.h>
#include <VRBoard_LED.h>
#include <OreoLED_PX4.h>
#ifndef OREOLED_ENABLED
# define OREOLED_ENABLED 0 // set to 1 to enable OreoLEDs
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
#define CONFIG_NOTIFY_DEVICES_COUNT (3+OREOLED_ENABLED)
#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_APM2
#define CONFIG_NOTIFY_DEVICES_COUNT 3
#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
#define CONFIG_NOTIFY_DEVICES_COUNT 4
#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
#define CONFIG_NOTIFY_DEVICES_COUNT 2
#else
#define CONFIG_NOTIFY_DEVICES_COUNT 3
#endif
#else
#define CONFIG_NOTIFY_DEVICES_COUNT 2
#endif
class AP_Notify
{
public:
/// notify_flags_type - bitmask of notification flags
struct notify_flags_type {
uint32_t initialising : 1; // 1 if initialising and copter should not be moved
uint32_t gps_status : 3; // 0 = no gps, 1 = no lock, 2 = 2d lock, 3 = 3d lock, 4 = dgps lock, 5 = rtk lock
uint32_t armed : 1; // 0 = disarmed, 1 = armed
uint32_t pre_arm_check : 1; // 0 = failing checks, 1 = passed
uint32_t pre_arm_gps_check : 1; // 0 = failing pre-arm GPS checks, 1 = passed
uint32_t save_trim : 1; // 1 if gathering trim data
uint32_t esc_calibration : 1; // 1 if calibrating escs
uint32_t failsafe_radio : 1; // 1 if radio failsafe
uint32_t failsafe_battery : 1; // 1 if battery failsafe
uint32_t parachute_release : 1; // 1 if parachute is being released
uint32_t ekf_bad : 1; // 1 if ekf is reporting problems
uint32_t autopilot_mode : 1; // 1 if vehicle is in an autopilot flight mode (only used by OreoLEDs)
// additional flags
uint32_t external_leds : 1; // 1 if external LEDs are enabled (normally only used for copter)
};
/// 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 {
uint16_t arming_failed : 1; // 1 if copter failed to arm after user input
uint16_t user_mode_change : 1; // 1 if user has initiated a flight mode change
uint16_t user_mode_change_failed: 1; // 1 when user initiated flight mode change fails
uint16_t failsafe_mode_change : 1; // 1 when failsafe has triggered a flight mode change
uint16_t autotune_complete : 1; // 1 when autotune has successfully completed
uint16_t autotune_failed : 1; // 1 when autotune has failed
uint16_t autotune_next_axis : 1; // 1 when autotune has completed one axis and is moving onto the next
uint16_t mission_complete : 1; // 1 when the mission has completed successfully
uint16_t waypoint_complete : 1; // 1 as vehicle completes a waypoint
uint16_t firmware_update : 1; // 1 just before vehicle firmware is updated
};
// the notify flags are static to allow direct class access
// without declaring the object
static struct notify_flags_type flags;
static struct notify_events_type events;
// initialisation
void init(bool enable_external_leds);
/// update - allow updates of leds that cannot be updated during a timed interrupt
void update(void);
// handle a LED_CONTROL message
static void handle_led_control(mavlink_message_t* msg);
private:
static NotifyDevice* _devices[CONFIG_NOTIFY_DEVICES_COUNT];
};
#endif // __AP_NOTIFY_H__