mirror of https://github.com/ArduPilot/ardupilot
148 lines
6.7 KiB
C++
148 lines
6.7 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include <AP_Common/AP_Common.h>
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#include <AP_Param/AP_Param.h>
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#include <GCS_MAVLink/GCS_MAVLink.h>
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#include "NotifyDevice.h"
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// Device parameters values
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#define RGB_LED_OFF 0
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#define RGB_LED_LOW 1
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#define RGB_LED_MEDIUM 2
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#define RGB_LED_HIGH 3
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#define BUZZER_ON 1
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#define BUZZER_OFF 0
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#define NOTIFY_TEXT_BUFFER_SIZE 51
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//Type of on-board display
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#define DISPLAY_OFF 0
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#define DISPLAY_SSD1306 1
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#define DISPLAY_SH1106 2
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class AP_Notify
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{
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friend class RGBLed; // RGBLed needs access to notify parameters
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friend class Display; // Display needs access to notify parameters
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public:
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// Constructor
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AP_Notify();
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// Oreo LED Themes
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enum Oreo_LED_Theme {
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OreoLED_Disabled = 0, // Disabled the OLED driver entirely
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OreoLED_Aircraft = 1, // Standard aviation themed lighting
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OreoLED_Automobile = 2, // Automobile themed lighting (white front, red back)
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};
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/// notify_flags_type - bitmask of notification flags
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struct notify_flags_and_values_type {
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uint32_t initialising : 1; // 1 if initialising and copter should not be moved
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uint32_t gps_status : 3; // 0 = no gps, 1 = no lock, 2 = 2d lock, 3 = 3d lock, 4 = dgps lock, 5 = rtk lock
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uint32_t gps_num_sats : 6; // number of sats
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uint32_t flight_mode : 8; // flight mode
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uint32_t armed : 1; // 0 = disarmed, 1 = armed
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uint32_t pre_arm_check : 1; // 0 = failing checks, 1 = passed
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uint32_t pre_arm_gps_check : 1; // 0 = failing pre-arm GPS checks, 1 = passed
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uint32_t save_trim : 1; // 1 if gathering trim data
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uint32_t esc_calibration : 1; // 1 if calibrating escs
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uint32_t failsafe_radio : 1; // 1 if radio failsafe
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uint32_t failsafe_battery : 1; // 1 if battery failsafe
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uint32_t parachute_release : 1; // 1 if parachute is being released
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uint32_t ekf_bad : 1; // 1 if ekf is reporting problems
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uint32_t autopilot_mode : 1; // 1 if vehicle is in an autopilot flight mode (only used by OreoLEDs)
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uint32_t firmware_update : 1; // 1 just before vehicle firmware is updated
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uint32_t compass_cal_running: 1; // 1 if a compass calibration is running
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uint32_t leak_detected : 1; // 1 if leak detected
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float battery_voltage ; // battery voltage
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uint32_t gps_fusion : 1; // 0 = GPS fix rejected by EKF, not usable for flight. 1 = GPS in use by EKF, usable for flight
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// additional flags
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uint32_t external_leds : 1; // 1 if external LEDs are enabled (normally only used for copter)
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uint32_t vehicle_lost : 1; // 1 when lost copter tone is requested (normally only used for copter)
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uint32_t waiting_for_throw : 1; // 1 when copter is in THROW mode and waiting to detect the user hand launch
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uint32_t powering_off : 1; // 1 when the vehicle is powering off
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};
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/// notify_events_type - bitmask of active events.
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// Notify library is responsible for setting back to zero after notification has been completed
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struct notify_events_type {
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uint32_t arming_failed : 1; // 1 if copter failed to arm after user input
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uint32_t user_mode_change : 1; // 1 if user has initiated a flight mode change
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uint32_t user_mode_change_failed: 1; // 1 when user initiated flight mode change fails
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uint32_t failsafe_mode_change : 1; // 1 when failsafe has triggered a flight mode change
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uint32_t autotune_complete : 1; // 1 when autotune has successfully completed
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uint32_t autotune_failed : 1; // 1 when autotune has failed
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uint32_t autotune_next_axis : 1; // 1 when autotune has completed one axis and is moving onto the next
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uint32_t mission_complete : 1; // 1 when the mission has completed successfully
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uint32_t waypoint_complete : 1; // 1 as vehicle completes a waypoint
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uint32_t initiated_compass_cal : 1; // 1 when user input to begin compass cal was accepted
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uint32_t compass_cal_saved : 1; // 1 when compass calibration was just saved
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uint32_t compass_cal_failed : 1; // 1 when compass calibration has just failed
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uint32_t compass_cal_canceled : 1; // 1 when compass calibration was just canceled
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uint32_t tune_started : 1; // tuning a parameter has started
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uint32_t tune_next : 3; // tuning switched to next parameter
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uint32_t tune_save : 1; // tuning saved parameters
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uint32_t tune_error : 1; // tuning controller error
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};
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// The notify flags and values are static to allow direct class access
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// without declaring the object.
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static struct notify_flags_and_values_type flags;
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static struct notify_events_type events;
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// initialisation
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void init(bool enable_external_leds);
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/// update - allow updates of leds that cannot be updated during a timed interrupt
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void update(void);
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// handle a LED_CONTROL message
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static void handle_led_control(mavlink_message_t* msg);
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// handle a PLAY_TUNE message
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static void handle_play_tune(mavlink_message_t* msg);
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bool buzzer_enabled() const { return _buzzer_enable; }
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// set flight mode string
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void set_flight_mode_str(const char *str);
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const char* get_flight_mode_str() const { return _flight_mode_str; }
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// send text to display
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void send_text(const char *str);
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const char* get_text() const { return _send_text; }
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static const struct AP_Param::GroupInfo var_info[];
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private:
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// parameters
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AP_Int8 _rgb_led_brightness;
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AP_Int8 _rgb_led_override;
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AP_Int8 _buzzer_enable;
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AP_Int8 _display_type;
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AP_Int8 _oreo_theme;
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char _send_text[NOTIFY_TEXT_BUFFER_SIZE];
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uint32_t _send_text_updated_millis; // last time text changed
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char _flight_mode_str[5];
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static NotifyDevice* _devices[];
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};
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