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ardupilot/libraries/AP_Notify/AP_Notify.cpp

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/*
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 "PixRacerLED.h"
#include "Buzzer.h"
#include "Display.h"
#include "ExternalLED.h"
#include "NavioLED_I2C.h"
#include "OreoLED_PX4.h"
#include "RCOutputRGBLed.h"
#include "ToneAlarm_Linux.h"
#include "ToneAlarm_PX4.h"
#include "ToshibaLED.h"
#include "ToshibaLED_I2C.h"
#include "VRBoard_LED.h"
#include "DiscreteRGBLed.h"
#include "DiscoLED.h"
#include <stdio.h>
AP_Notify *AP_Notify::_instance;
#define CONFIG_NOTIFY_DEVICES_COUNT 5
// 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),
// @Param: LED_OVERRIDE
// @DisplayName: Setup for MAVLink LED override
// @Description: This sets up the board RGB LED for override by MAVLink. Normal notify LED control is disabled
// @Values: 0:Disable,1:Enable
// @User: Advanced
AP_GROUPINFO("LED_OVERRIDE", 2, AP_Notify, _rgb_led_override, 0),
// @Param: DISPLAY_TYPE
// @DisplayName: Type of on-board I2C display
// @Description: This sets up the type of on-board I2C display. Disabled by default.
// @Values: 0:Disable,1:ssd1306,2:sh1106
// @User: Advanced
AP_GROUPINFO("DISPLAY_TYPE", 3, AP_Notify, _display_type, 0),
// @Param: OREO_THEME
// @DisplayName: OreoLED Theme
// @Description: Enable/Disable Solo Oreo LED driver, 0 to disable, 1 for Aircraft theme, 2 for Rover theme
// @Values: 0:Disabled,1:Aircraft,2:Rover
// @User: Advanced
AP_GROUPINFO("OREO_THEME", 4, AP_Notify, _oreo_theme, 0),
AP_GROUPEND
};
// Default constructor
AP_Notify::AP_Notify()
{
AP_Param::setup_object_defaults(this, var_info);
if (_instance != nullptr) {
AP_HAL::panic("AP_Notify must be singleton");
}
_instance = this;
}
// static flags, to allow for direct class update from device drivers
struct AP_Notify::notify_flags_and_values_type AP_Notify::flags;
struct AP_Notify::notify_events_type AP_Notify::events;
NotifyDevice *AP_Notify::_devices[] = {nullptr, nullptr, nullptr, nullptr, nullptr};
// initialisation
void AP_Notify::init(bool enable_external_leds)
{
// Notify devices for PX4 boards
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_PX4_V3 // Has enough memory for Oreo LEDs
_devices[0] = new AP_BoardLED();
_devices[1] = new ToshibaLED_I2C();
_devices[2] = new ToneAlarm_PX4();
_devices[3] = new Display();
// Oreo LED enable/disable by NTF_OREO_THEME parameter
if (_oreo_theme) {
_devices[4] = new OreoLED_PX4(_oreo_theme);
}
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_PX4_V4 // Has its own LED board
_devices[0] = new PixRacerLED();
_devices[1] = new ToshibaLED_I2C();
_devices[2] = new ToneAlarm_PX4();
_devices[3] = new Display();
#else // All other px4 boards use standard devices.
_devices[0] = new AP_BoardLED();
_devices[1] = new ToshibaLED_I2C();
_devices[2] = new ToneAlarm_PX4();
_devices[3] = new Display();
#endif
// Notify devices for VRBRAIN boards
#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_VRBRAIN_V45 // Uses px4 LED board
_devices[0] = new AP_BoardLED();
_devices[1] = new ToshibaLED_I2C();
_devices[2] = new ToneAlarm_PX4();
_devices[3] = new ExternalLED();
#else
_devices[0] = new VRBoard_LED();
_devices[1] = new ToshibaLED_I2C();
_devices[2] = new ToneAlarm_PX4();
_devices[3] = new ExternalLED();
#endif
// Notify devices for linux boards
#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
_devices[0] = new NavioLED_I2C();
_devices[1] = new ToshibaLED_I2C();
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2
_devices[0] = new DiscreteRGBLed(4, 27, 6, false);
_devices[1] = new ToshibaLED_I2C();
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
_devices[0] = new AP_BoardLED();
_devices[1] = new Buzzer();
_devices[2] = new Display();
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE
_devices[0] = new AP_BoardLED();
_devices[1] = new Display();
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
_devices[0] = new ToshibaLED_I2C();
_devices[1] = new ToneAlarm_Linux();
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE
_devices[0] = new RCOutputRGBLedOff(15, 13, 14, 255);
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI
_devices[0] = new AP_BoardLED();
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH
_devices[0] = new AP_BoardLED();
_devices[1] = new RCOutputRGBLed(HAL_RCOUT_RGBLED_RED, HAL_RCOUT_RGBLED_GREEN, HAL_RCOUT_RGBLED_BLUE);
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
_devices[0] = new DiscoLED();
_devices[1] = new ToneAlarm_Linux();
#else
_devices[0] = new AP_BoardLED();
_devices[1] = new ToshibaLED_I2C();
_devices[2] = new ToneAlarm_Linux();
#endif
#else
_devices[0] = new AP_BoardLED();
_devices[1] = new ToshibaLED_I2C();
#endif
// clear all flags and events
memset(&AP_Notify::flags, 0, sizeof(AP_Notify::flags));
memset(&AP_Notify::events, 0, sizeof(AP_Notify::events));
// clear flight mode string and text buffer
memset(_flight_mode_str, 0, sizeof(_flight_mode_str));
memset(_send_text, 0, sizeof(_send_text));
_send_text_updated_millis = 0;
AP_Notify::flags.external_leds = enable_external_leds;
for (uint8_t i = 0; i < CONFIG_NOTIFY_DEVICES_COUNT; i++) {
if (_devices[i] != nullptr) {
_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++) {
if (_devices[i] != nullptr) {
_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++) {
if (_devices[i] != nullptr) {
_devices[i]->handle_led_control(msg);
}
}
}
// handle a PLAY_TUNE message
void AP_Notify::handle_play_tune(mavlink_message_t *msg)
{
for (uint8_t i = 0; i < CONFIG_NOTIFY_DEVICES_COUNT; i++) {
if (_devices[i] != nullptr) {
_devices[i]->handle_play_tune(msg);
}
}
}
// set flight mode string
void AP_Notify::set_flight_mode_str(const char *str)
{
strncpy(_flight_mode_str, str, 4);
_flight_mode_str[sizeof(_flight_mode_str)-1] = 0;
}
void AP_Notify::send_text(const char *str)
{
strncpy(_send_text, str, sizeof(_send_text));
_send_text[sizeof(_send_text)-1] = 0;
_send_text_updated_millis = AP_HAL::millis();
}
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