mirror of https://github.com/ArduPilot/ardupilot
226 lines
10 KiB
C++
226 lines
10 KiB
C++
/*
|
|
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/>.
|
|
*/
|
|
#pragma once
|
|
|
|
#include <AP_Common/AP_Common.h>
|
|
#include <AP_Param/AP_Param.h>
|
|
#include <GCS_MAVLink/GCS_MAVLink.h>
|
|
|
|
#include "NotifyDevice.h"
|
|
|
|
// Device parameters values
|
|
#define RGB_LED_OFF 0
|
|
#define RGB_LED_LOW 1
|
|
#define RGB_LED_MEDIUM 2
|
|
#define RGB_LED_HIGH 3
|
|
#define BUZZER_ON 1
|
|
#define BUZZER_OFF 0
|
|
|
|
#define NOTIFY_TEXT_BUFFER_SIZE 51
|
|
|
|
//Type of on-board display
|
|
#define DISPLAY_OFF 0
|
|
#define DISPLAY_SSD1306 1
|
|
#define DISPLAY_SH1106 2
|
|
#define DISPLAY_SITL 10
|
|
|
|
class AP_Notify
|
|
{
|
|
friend class RGBLed; // RGBLed needs access to notify parameters
|
|
friend class Display; // Display needs access to notify parameters
|
|
public:
|
|
AP_Notify();
|
|
|
|
/* Do not allow copies */
|
|
AP_Notify(const AP_Notify &other) = delete;
|
|
AP_Notify &operator=(const AP_Notify&) = delete;
|
|
|
|
// get singleton instance
|
|
static AP_Notify *get_singleton(void) {
|
|
return _singleton;
|
|
}
|
|
|
|
// Oreo LED Themes
|
|
enum Oreo_LED_Theme {
|
|
OreoLED_Disabled = 0, // Disabled the OLED driver entirely
|
|
OreoLED_Aircraft = 1, // Standard aviation themed lighting
|
|
OreoLED_Automobile = 2, // Automobile themed lighting (white front, red back)
|
|
};
|
|
|
|
enum Notify_LED_Type {
|
|
Notify_LED_None = 0, // not enabled
|
|
Notify_LED_Board = (1 << 0), // Built in board LED's
|
|
Notify_LED_ToshibaLED_I2C_Internal = (1 << 1), // Internal ToshibaLED_I2C
|
|
Notify_LED_ToshibaLED_I2C_External = (1 << 2), // External ToshibaLED_I2C
|
|
Notify_LED_PCA9685LED_I2C_External = (1 << 3), // External PCA9685_I2C
|
|
Notify_LED_OreoLED = (1 << 4), // Oreo
|
|
Notify_LED_UAVCAN = (1 << 5), // UAVCAN RGB LED
|
|
Notify_LED_NCP5623_I2C_External = (1 << 6), // External NCP5623
|
|
Notify_LED_NCP5623_I2C_Internal = (1 << 7), // Internal NCP5623
|
|
Notify_LED_NeoPixel = (1 << 8), // NeoPixel 5050 AdaFruit 1655 SK6812 Worldsemi WS2812B
|
|
Notify_LED_ProfiLED = (1 << 9), // ProfiLED
|
|
Notify_LED_Scripting = (1 << 10),// Colour accessor for scripting
|
|
Notify_LED_DShot = (1 << 11),// Use dshot commands to set ESC LEDs
|
|
Notify_LED_ProfiLED_SPI = (1 << 12), // ProfiLED
|
|
Notify_LED_MAX
|
|
};
|
|
|
|
enum Notify_Buzz_Type {
|
|
Notify_Buzz_None = 0,
|
|
Notify_Buzz_Builtin = (1 << 0), // Built in default Alarm Out
|
|
Notify_Buzz_DShot = (1 << 1), // DShot Alarm
|
|
Notify_Buzz_UAVCAN = (1 << 2), // UAVCAN Alarm
|
|
};
|
|
|
|
/// notify_flags_type - bitmask of notification flags
|
|
struct notify_flags_and_values_type {
|
|
bool initialising; // true if initialising and the vehicle should not be moved
|
|
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
|
|
uint8_t gps_num_sats; // number of sats
|
|
uint8_t flight_mode; // flight mode
|
|
bool armed; // 0 = disarmed, 1 = armed
|
|
bool flying; // 0 = not flying, 1 = flying/driving/diving/tracking
|
|
bool pre_arm_check; // true if passing pre arm checks
|
|
bool pre_arm_gps_check; // true if passing pre arm gps checks
|
|
bool save_trim; // true if gathering trim data
|
|
bool esc_calibration; // true if calibrating escs
|
|
bool failsafe_radio; // true if radio failsafe
|
|
bool failsafe_battery; // true if battery failsafe
|
|
bool failsafe_gcs; // true if GCS failsafe
|
|
bool failsafe_ekf; // true if ekf failsafe
|
|
bool parachute_release; // true if parachute is being released
|
|
bool ekf_bad; // true if ekf is reporting problems
|
|
bool autopilot_mode; // true if vehicle is in an autopilot flight mode (only used by OreoLEDs)
|
|
bool firmware_update; // true just before vehicle firmware is updated
|
|
bool compass_cal_running; // true if a compass calibration is running
|
|
bool leak_detected; // true if leak detected
|
|
bool gps_fusion; // true if the GPS is in use by EKF, usable for flight
|
|
bool gps_glitching; // true f the GPS is believed to be glitching is affecting navigation accuracy
|
|
bool have_pos_abs; // true if absolute position is available
|
|
bool vehicle_lost; // true when lost copter tone is requested (normally only used for copter)
|
|
bool waiting_for_throw; // true when copter is in THROW mode and waiting to detect the user hand launch
|
|
bool powering_off; // true when the vehicle is powering off
|
|
bool video_recording; // true when the vehicle is recording video
|
|
bool temp_cal_running; // true if a temperature calibration is running
|
|
};
|
|
|
|
/// 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 {
|
|
uint32_t arming_failed : 1; // 1 if copter failed to arm after user input
|
|
uint32_t user_mode_change : 1; // 1 if user has initiated a flight mode change
|
|
uint32_t user_mode_change_failed: 1; // 1 when user initiated flight mode change fails
|
|
uint32_t failsafe_mode_change : 1; // 1 when failsafe has triggered a flight mode change
|
|
uint32_t autotune_complete : 1; // 1 when autotune has successfully completed
|
|
uint32_t autotune_failed : 1; // 1 when autotune has failed
|
|
uint32_t autotune_next_axis : 1; // 1 when autotune has completed one axis and is moving onto the next
|
|
uint32_t mission_complete : 1; // 1 when the mission has completed successfully
|
|
uint32_t waypoint_complete : 1; // 1 as vehicle completes a waypoint
|
|
uint32_t initiated_compass_cal : 1; // 1 when user input to begin compass cal was accepted
|
|
uint32_t compass_cal_saved : 1; // 1 when compass calibration was just saved
|
|
uint32_t compass_cal_failed : 1; // 1 when compass calibration has just failed
|
|
uint32_t compass_cal_canceled : 1; // 1 when compass calibration was just canceled
|
|
uint32_t tune_started : 1; // tuning a parameter has started
|
|
uint32_t tune_next : 3; // tuning switched to next parameter
|
|
uint32_t tune_save : 1; // tuning saved parameters
|
|
uint32_t tune_error : 1; // tuning controller error
|
|
uint32_t initiated_temp_cal : 1; // 1 when temperature calibration starts
|
|
uint32_t temp_cal_saved : 1; // 1 when temperature calibration was just saved
|
|
uint32_t temp_cal_failed : 1; // 1 when temperature calibration has just failed
|
|
};
|
|
|
|
// The notify flags and values are static to allow direct class access
|
|
// without declaring the object.
|
|
static struct notify_flags_and_values_type flags;
|
|
static struct notify_events_type events;
|
|
|
|
// initialisation
|
|
void init(void);
|
|
|
|
/// 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(const mavlink_message_t &msg);
|
|
|
|
// handle RGB from Scripting or AP_Periph
|
|
static void handle_rgb(uint8_t r, uint8_t g, uint8_t b, uint8_t rate_hz = 0);
|
|
|
|
// handle RGB from Scripting
|
|
static void handle_rgb_id(uint8_t r, uint8_t g, uint8_t b, uint8_t id);
|
|
|
|
// handle a PLAY_TUNE message
|
|
static void handle_play_tune(const mavlink_message_t &msg);
|
|
|
|
// play a tune string
|
|
static void play_tune(const char *tune);
|
|
|
|
bool buzzer_enabled() const { return _buzzer_type != 0; }
|
|
|
|
uint8_t get_buzzer_types() const { return _buzzer_type; }
|
|
|
|
// set flight mode string
|
|
void set_flight_mode_str(const char *str);
|
|
const char* get_flight_mode_str() const { return _flight_mode_str; }
|
|
|
|
// send text to display
|
|
void send_text(const char *str);
|
|
const char* get_text() const { return _send_text; }
|
|
uint32_t get_text_updated_millis() const {return _send_text_updated_millis; }
|
|
|
|
static const struct AP_Param::GroupInfo var_info[];
|
|
uint8_t get_buzz_pin() const { return _buzzer_pin; }
|
|
uint8_t get_buzz_level() const { return _buzzer_level; }
|
|
uint8_t get_buzz_volume() const { return _buzzer_volume; }
|
|
uint8_t get_led_len() const { return _led_len; }
|
|
int8_t get_rgb_led_brightness_percent() const;
|
|
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
|
|
HAL_Semaphore sf_window_mutex;
|
|
#endif
|
|
|
|
private:
|
|
|
|
static AP_Notify *_singleton;
|
|
|
|
void add_backend_helper(NotifyDevice *backend);
|
|
|
|
// add all backends
|
|
void add_backends(void);
|
|
|
|
// parameters
|
|
AP_Int8 _rgb_led_brightness;
|
|
AP_Int8 _rgb_led_override;
|
|
AP_Int8 _buzzer_type;
|
|
AP_Int8 _display_type;
|
|
AP_Int8 _oreo_theme;
|
|
AP_Int8 _buzzer_pin;
|
|
AP_Int32 _led_type;
|
|
AP_Int8 _buzzer_level;
|
|
AP_Int8 _buzzer_volume;
|
|
AP_Int8 _led_len;
|
|
|
|
char _send_text[NOTIFY_TEXT_BUFFER_SIZE];
|
|
uint32_t _send_text_updated_millis; // last time text changed
|
|
char _flight_mode_str[5];
|
|
|
|
static NotifyDevice* _devices[];
|
|
static uint8_t _num_devices;
|
|
};
|
|
|
|
namespace AP {
|
|
AP_Notify ¬ify();
|
|
};
|