mirror of https://github.com/ArduPilot/ardupilot
315 lines
8.6 KiB
Lua
315 lines
8.6 KiB
Lua
-- This script is a test of led override
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-- luacheck: only 0
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local count = 0
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local num_leds = 16
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local total_time = 1
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local animation_end = 0
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local current_anim = 0
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-- constrain a value between limits
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function constrain(v, vmin, vmax)
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if v < vmin then
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v = vmin
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end
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if v > vmax then
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v = vmax
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end
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return v
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end
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--[[
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Table of neon colors on a rainbow, red first
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--]]
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-- local rainbow = {
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-- { 252, 23, 0 },
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-- { 253, 72, 37 },
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-- { 250, 237, 39 },
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-- { 51, 255, 20 },
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-- { 27, 3, 163 }
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-- }
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local rainbow = {
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{ 252, 23, 0 },
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{ 253, 100, 0 },
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{ 250, 237, 0 },
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{ 51, 255, 20 },
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{ 27, 3, 163 }
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}
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local led_map = {
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14,
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15,
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2,
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3,
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4,
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5,
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6,
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7,
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8,
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9,
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1,
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0,
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10,
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11,
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12,
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13}
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function table.contains(table, element)
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for _, value in pairs(table) do
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if value == element then
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return true
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end
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end
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return false
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end
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--[[
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Function to set a LED to a color on a classic rainbow spectrum, with v=0 giving red
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--]]
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function get_Rainbow(v, num_rows)
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local row = math.floor(constrain(v * (num_rows-1)+1, 1, num_rows-1))
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local v0 = (row-1) / (num_rows-1)
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local v1 = row / (num_rows-1)
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local p = (v - v0) / (v1 - v0)
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r = math.max(math.floor(rainbow[row][1] + p * (rainbow[row+1][1] - rainbow[row][1])),0)
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g = math.max(math.floor(rainbow[row][2] + p * (rainbow[row+1][2] - rainbow[row][2])),0)
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b = math.max(math.floor(rainbow[row][3] + p * (rainbow[row+1][3] - rainbow[row][3])),0)
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return r,g,b
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end
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function do_initialisation()
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local pos = math.rad(total_time/2)
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local v =0.5 + 0.5 * math.sin(pos)
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local invert = 1
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local r, g, b = get_Rainbow(v, 5)
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local led_trail_length = 3
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local softness = 10
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local bfact = 1
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local updated_leds = {}
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if math.cos(pos) > 0 then
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invert = 1
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else
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invert = 0
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end
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pos = math.floor(6 + (v*8))%16
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if pos == 6 then
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animation_end = 1
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else
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animation_end = 0
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end
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for trail = 0, led_trail_length-1 do
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if invert == 1 then
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bfact = softness^(2*(led_trail_length - 1 - trail)/(led_trail_length-1))
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else
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bfact = softness^(2*trail/(led_trail_length-1))
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end
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local led_id = 1 + ((pos + trail) % num_leds)
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notify:handle_rgb_id(math.floor(r/bfact), math.floor(g/bfact), math.floor(b/bfact), led_map[led_id])
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table.insert(updated_leds, led_id)
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end
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pos = math.floor(6 - (v*8))%16
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for trail = 0, led_trail_length-1 do
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if invert == 0 then
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bfact = softness^(2*(led_trail_length - 1 - trail)/(led_trail_length-1))
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else
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bfact = softness^(2*trail/(led_trail_length-1))
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end
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local led_id = 1 + ((pos + trail) % num_leds)
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notify:handle_rgb_id(math.floor(r/bfact), math.floor(g/bfact), math.floor(b/bfact), led_map[led_id])
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table.insert(updated_leds, led_id)
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end
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for led = 1, num_leds do
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if not table.contains(updated_leds, led) then
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notify:handle_rgb_id(0, 0, 0, led_map[led])
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end
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end
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end
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function do_point_north(r, g, b, led_trail_length, softness)
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local north_bias = 4
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local yaw = 8 - ((16 * periph:get_yaw_earth()/(2*math.pi))) - north_bias
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local ofs = yaw - math.floor(yaw+0.5)
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yaw = math.floor(yaw+0.5) % 16
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local updated_leds = {}
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for trail = 0, led_trail_length-1 do
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local bfact = softness^(2*(math.abs((led_trail_length-1)/2 - trail + ofs))/(led_trail_length-1))
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local led_id = 1 + ((yaw + trail) % 16)
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notify:handle_rgb_id(math.floor(r/bfact), math.floor(g/bfact), math.floor(b/bfact), led_map[led_id])
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table.insert(updated_leds, led_id)
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end
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for led = 1, num_leds do
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if not table.contains(updated_leds, led) then
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notify:handle_rgb_id(0, 0, 0, led_map[led])
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end
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end
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return yaw
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end
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function finish_initialisation(r, g, b, led_trail_length, softness, speed_factor, next_call)
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local north_bias = 4
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local yaw = 8 - ((16 * periph:get_yaw_earth()/(2*math.pi))) - north_bias
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yaw = math.floor(yaw+0.5) % 16
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local led_id = math.floor((count/speed_factor) + north_bias) % 16
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if yaw == led_id then
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if total_time > 3000 then
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animation_end = 1
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end
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return
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end
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count = count + next_call
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local updated_leds = {}
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for trail = 0, led_trail_length-1 do
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local bfact = softness^(2*(math.abs((led_trail_length-1)/2 - trail))/(led_trail_length-1))
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local this_led_id = 1 + ((led_id + trail) % 16)
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notify:handle_rgb_id(math.floor(r/bfact), math.floor(g/bfact), math.floor(b/bfact), led_map[this_led_id])
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table.insert(updated_leds, this_led_id)
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end
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for led = 1, num_leds do
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if not table.contains(updated_leds, led) then
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notify:handle_rgb_id(0, 0, 0, led_map[led])
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end
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end
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end
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function do_arm_spin(r, g, b, softness, speed_factor, arming)
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-- reset led states
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local updated_leds = {}
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-- calculate next call based on time
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local next_call = 1
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if arming then
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next_call = speed_factor - math.floor(((total_time)/speed_factor) + 0.5)
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if next_call < 1 then
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return next_call
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end
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else
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next_call = 1 + math.floor(((total_time)/speed_factor) + 0.5)
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if next_call > speed_factor then
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return next_call
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end
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end
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-- set trail length bassed on spin progress
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local led_trail_length = 3 + (13 * (1 - (next_call/75)))
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-- create a trail
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for trail = 0, led_trail_length-1 do
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local bfact = softness^(led_trail_length - trail)
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local led_id = 1 + (count + trail) % 16
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notify:handle_rgb_id(math.floor(r/bfact), math.floor(g/bfact), math.floor(b/bfact), led_map[led_id])
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table.insert(updated_leds, led_id)
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end
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for led = 1, num_leds do
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if not table.contains(updated_leds, led) then
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notify:handle_rgb_id(0, 0, 0, led_map[led])
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end
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end
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return next_call
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end
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function set_all(r, g, b)
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for led = 1, num_leds do
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notify:handle_rgb_id(r, g, b, led_map[led])
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end
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end
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function animation_state_machine(vehicle_state)
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-- change state only when last loop finished
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if animation_end == 0 then
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return
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end
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if ((vehicle_state & 1) == uint32_t(1)) then
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-- do_initialisation
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if current_anim ~= 0 then
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current_anim = 0
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total_time = 0
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animation_end = 0
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end
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elseif current_anim == 0 then
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-- do finish by move to north
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count = 0
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total_time = 0
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current_anim = 1
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animation_end = 0
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elseif current_anim == 1 then
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-- do always point north
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current_anim = 2
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elseif current_anim ~= 3 and ((vehicle_state & (1 << 1)) ~= uint32_t(0)) then --VEHICLE_STATE_ARMED
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total_time = 0
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current_anim = 3
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animation_end = 0
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elseif current_anim == 3 and ((vehicle_state & (1 << 1)) == uint32_t(0)) then
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total_time = 0
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current_anim = 4
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animation_end = 0
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elseif current_anim == 4 then
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current_anim = 1
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end
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end
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function update() -- this is the loop which periodically runs
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local next_call = 20
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local vehicle_state = periph:get_vehicle_state()
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animation_state_machine(vehicle_state)
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-- Initialisation
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if current_anim == 0 then
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do_initialisation()
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total_time = total_time + next_call
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elseif current_anim == 1 then
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finish_initialisation(rainbow[1][1], rainbow[1][2], rainbow[1][3], 5, 20, 50, next_call)
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total_time = total_time + next_call
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elseif current_anim == 2 then
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local v
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if (vehicle_state & (1<<3)) ~= uint32_t(0) or --VEHICLE_STATE_PREARM
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(vehicle_state & (1<<4)) ~= uint32_t(0) or --VEHICLE_STATE_PREARM_GPS
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(vehicle_state & (1<<7)) ~= uint32_t(0) or --VEHICLE_STATE_FAILSAFE_RADIO
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(vehicle_state & (1<<8)) ~= uint32_t(0) or --VEHICLE_STATE_FAILSAFE_BATT
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(vehicle_state & (1<<11)) ~= uint32_t(0) then --VEHICLE_STATE_EKF_BAD
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v = 0.0
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end
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if (vehicle_state & (1<<17)) == uint32_t(0) then--VEHICLE_STATE_POS_ABS_AVAIL
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v = 0.5 + (0.5 * math.min(gps:num_sats(0)/20, 1.0))
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else
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v = 1.0
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end
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local r, g, b = get_Rainbow(v, 4)
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count = do_point_north(r, g, b, 5, 20)
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-- --[[ ARM Display
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elseif current_anim == 3 then
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if animation_end == 0 then
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next_call = do_arm_spin(rainbow[4][1], rainbow[4][2], rainbow[4][3], 2, 75, true)
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count = count + 1
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end
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if next_call < 1 then
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set_all(rainbow[4][1], rainbow[4][2], rainbow[4][3])
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animation_end = 1
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else
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total_time = total_time + next_call
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end
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elseif current_anim == 4 then
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if animation_end == 0 then
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next_call = do_arm_spin(rainbow[4][1], rainbow[4][2], rainbow[4][3], 2, 75, false)
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count = count - 1
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end
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if next_call > 75 then
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animation_end = 1
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else
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total_time = total_time + next_call
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end
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end
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-- gcs:send_text(0, string.format("NCALL: %s", tostring(next_call)))
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return update, next_call -- reschedules the loop in next_call milliseconds
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end
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return update() -- run immediately before starting to reschedule |