ardupilot/libraries/AP_Notify/AP_Notify.cpp

167 lines
5.7 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/>.
*/
#include "AP_Notify.h"
#include "AP_BoardLED.h"
#include "Buzzer.h"
#include "Display_SSD1306_I2C.h"
#include "ExternalLED.h"
#include "NavioLED_I2C.h"
#include "OreoLED_PX4.h"
#include "RCOutputRGBLed.h"
#include "ToneAlarm_Linux.h"
#include "ToneAlarm_PX4.h"
#include "ToneAlarm_PX4_Solo.h"
#include "ToshibaLED.h"
#include "ToshibaLED_I2C.h"
#include "ToshibaLED_PX4.h"
#include "VRBoard_LED.h"
#include "DiscreteRGBLed.h"
// table of user settable parameters
const AP_Param::GroupInfo AP_Notify::var_info[] = {
// @Param: LED_BRIGHT
// @DisplayName: LED Brightness
// @Description: Select the RGB LED brightness level. When USB is connected brightness will never be higher than low regardless of the setting.
// @Values: 0:Off,1:Low,2:Medium,3:High
// @User: Advanced
AP_GROUPINFO("LED_BRIGHT", 0, AP_Notify, _rgb_led_brightness, RGB_LED_HIGH),
// @Param: BUZZ_ENABLE
// @DisplayName: Buzzer enable
// @Description: Enable or disable the buzzer. Only for Linux and PX4 based boards.
// @Values: 0:Disable,1:Enable
// @User: Advanced
AP_GROUPINFO("BUZZ_ENABLE", 1, AP_Notify, _buzzer_enable, BUZZER_ON),
AP_GROUPEND
};
// Default constructor
AP_Notify::AP_Notify()
{
AP_Param::setup_object_defaults(this, var_info);
}
// static flags, to allow for direct class update from device drivers
struct AP_Notify::notify_flags_type AP_Notify::flags;
struct AP_Notify::notify_events_type AP_Notify::events;
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
AP_BoardLED boardled;
ToshibaLED_PX4 toshibaled;
#if AP_NOTIFY_SOLO_TONES == 1
ToneAlarm_PX4_Solo tonealarm;
#else
ToneAlarm_PX4 tonealarm;
#endif
#if AP_NOTIFY_OREOLED == 1
OreoLED_PX4 oreoled;
NotifyDevice *AP_Notify::_devices[] = {&boardled, &toshibaled, &tonealarm, &oreoled};
#else
NotifyDevice *AP_Notify::_devices[] = {&boardled, &toshibaled, &tonealarm};
#endif
#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
Buzzer buzzer;
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_VRBRAIN_V45
AP_BoardLED boardled;
#else
VRBoard_LED boardled;
#endif
ToshibaLED_I2C toshibaled;
ExternalLED externalled;
NotifyDevice *AP_Notify::_devices[] = {&boardled, &toshibaled, &externalled, &buzzer};
#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
NavioLED_I2C navioled;
ToshibaLED_I2C toshibaled;
NotifyDevice *AP_Notify::_devices[] = {&navioled, &toshibaled};
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2
DiscreteRGBLed navioled(4, 27, 6, false);
ToshibaLED_I2C toshibaled;
NotifyDevice *AP_Notify::_devices[] = {&navioled, &toshibaled};
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
Buzzer buzzer;
Display_SSD1306_I2C display;
NotifyDevice *AP_Notify::_devices[] = {&display, &buzzer};
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
ToshibaLED_I2C toshibaled;
ToneAlarm_Linux tonealarm;
NotifyDevice *AP_Notify::_devices[] = {&toshibaled, &tonealarm};
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE
RCOutputRGBLedOff led(15, 13, 14, 255);
NotifyDevice *AP_Notify::_devices[] = { &led };
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI
AP_BoardLED boardled;
NotifyDevice *AP_Notify::_devices[] = {&boardled};
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH
AP_BoardLED boardled;
RCOutputRGBLed bhled(HAL_RCOUT_RGBLED_RED, HAL_RCOUT_RGBLED_GREEN, HAL_RCOUT_RGBLED_BLUE);
NotifyDevice *AP_Notify::_devices[] = {&boardled, &bhled};
#else
AP_BoardLED boardled;
ToshibaLED_I2C toshibaled;
ToneAlarm_Linux tonealarm;
NotifyDevice *AP_Notify::_devices[] = {&boardled, &toshibaled, &tonealarm};
#endif
#else
AP_BoardLED boardled;
ToshibaLED_I2C toshibaled;
NotifyDevice *AP_Notify::_devices[] = {&boardled, &toshibaled};
#endif
#define CONFIG_NOTIFY_DEVICES_COUNT (ARRAY_SIZE(AP_Notify::_devices))
// initialisation
void AP_Notify::init(bool enable_external_leds)
{
// clear all flags and events
memset(&AP_Notify::flags, 0, sizeof(AP_Notify::flags));
memset(&AP_Notify::events, 0, sizeof(AP_Notify::events));
AP_Notify::flags.external_leds = enable_external_leds;
for (uint8_t i = 0; i < CONFIG_NOTIFY_DEVICES_COUNT; i++) {
_devices[i]->pNotify = this;
_devices[i]->init();
}
}
// main update function, called at 50Hz
void AP_Notify::update(void)
{
for (uint8_t i = 0; i < CONFIG_NOTIFY_DEVICES_COUNT; i++) {
_devices[i]->update();
}
//reset the events
memset(&AP_Notify::events, 0, sizeof(AP_Notify::events));
}
// handle a LED_CONTROL message
void AP_Notify::handle_led_control(mavlink_message_t *msg)
{
for (uint8_t i = 0; i < CONFIG_NOTIFY_DEVICES_COUNT; i++) {
_devices[i]->handle_led_control(msg);
}
}