mirror of https://github.com/ArduPilot/ardupilot
460 lines
16 KiB
C++
460 lines
16 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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#include "AP_Notify.h"
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#include "AP_BoardLED.h"
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#include "PixRacerLED.h"
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#include "Buzzer.h"
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#include "Display.h"
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#include "ExternalLED.h"
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#include "PCA9685LED_I2C.h"
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#include "NavigatorLED.h"
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#include "NeoPixel.h"
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#include "NCP5623.h"
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#include "OreoLED_I2C.h"
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#include "RCOutputRGBLed.h"
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#include "ToneAlarm.h"
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#include "ToshibaLED_I2C.h"
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#include "VRBoard_LED.h"
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#include "DiscreteRGBLed.h"
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#include "DiscoLED.h"
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#include "Led_Sysfs.h"
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#include "UAVCAN_RGB_LED.h"
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#include "SITL_SFML_LED.h"
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#include <stdio.h>
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#include "AP_BoardLED2.h"
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#include "ProfiLED.h"
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#include "ScriptingLED.h"
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extern const AP_HAL::HAL& hal;
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AP_Notify *AP_Notify::_singleton;
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#define CONFIG_NOTIFY_DEVICES_MAX 6
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#define TOSHIBA_LED_I2C_BUS_INTERNAL 0
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#define TOSHIBA_LED_I2C_BUS_EXTERNAL 1
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// all I2C_LEDS
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#define I2C_LEDS (Notify_LED_ToshibaLED_I2C_Internal | Notify_LED_ToshibaLED_I2C_External | \
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Notify_LED_NCP5623_I2C_Internal | Notify_LED_NCP5623_I2C_External)
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#ifndef BUILD_DEFAULT_LED_TYPE
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#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
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#define BUILD_DEFAULT_LED_TYPE (Notify_LED_Board | I2C_LEDS)
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// Linux boards
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#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
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#define BUILD_DEFAULT_LED_TYPE (Notify_LED_Board | I2C_LEDS |\
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Notify_LED_PCA9685LED_I2C_External)
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2
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#define BUILD_DEFAULT_LED_TYPE (Notify_LED_Board | I2C_LEDS)
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE
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#define BUILD_DEFAULT_LED_TYPE (Notify_LED_Board | I2C_LEDS |\
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Notify_LED_UAVCAN)
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_POCKET || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
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#define BUILD_DEFAULT_LED_TYPE (Notify_LED_Board)
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RST_ZYNQ
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#define BUILD_DEFAULT_LED_TYPE (Notify_LED_ToshibaLED_I2C_External)
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#else // other linux
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#define BUILD_DEFAULT_LED_TYPE (Notify_LED_Board | I2C_LEDS)
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#endif
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// All other builds
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#else
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#define BUILD_DEFAULT_LED_TYPE (Notify_LED_Board | I2C_LEDS)
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#endif // board selection
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#endif // BUILD_DEFAULT_LED_TYPE
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#ifndef BUZZER_ENABLE_DEFAULT
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#define BUZZER_ENABLE_DEFAULT 1
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#endif
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#ifndef NOTIFY_LED_BRIGHT_DEFAULT
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#define NOTIFY_LED_BRIGHT_DEFAULT RGB_LED_HIGH
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#endif
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#ifndef NOTIFY_LED_OVERRIDE_DEFAULT
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#ifdef HAL_BUILD_AP_PERIPH
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#define NOTIFY_LED_OVERRIDE_DEFAULT 1 // rgb_source_t::mavlink
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#else
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#define NOTIFY_LED_OVERRIDE_DEFAULT 0 // rgb_source_t::standard
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#endif
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#endif
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#ifndef NOTIFY_LED_LEN_DEFAULT
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#define NOTIFY_LED_LEN_DEFAULT 1
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#endif
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// table of user settable parameters
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const AP_Param::GroupInfo AP_Notify::var_info[] = {
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// @Param: LED_BRIGHT
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// @DisplayName: LED Brightness
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// @Description: Select the RGB LED brightness level. When USB is connected brightness will never be higher than low regardless of the setting.
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// @Values: 0:Off,1:Low,2:Medium,3:High
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// @User: Advanced
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AP_GROUPINFO("LED_BRIGHT", 0, AP_Notify, _rgb_led_brightness, NOTIFY_LED_BRIGHT_DEFAULT),
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// @Param: BUZZ_ENABLE
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// @DisplayName: Buzzer enable
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// @Description: Enable or disable the buzzer.
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// @Values: 0:Disable,1:Enable
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// @User: Advanced
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AP_GROUPINFO("BUZZ_ENABLE", 1, AP_Notify, _buzzer_enable, BUZZER_ENABLE_DEFAULT),
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// @Param: LED_OVERRIDE
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// @DisplayName: Specifies colour source for the RGBLed
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// @Description: Specifies the source for the colours and brightness for the LED. OutbackChallenge conforms to the MedicalExpress (https://uavchallenge.org/medical-express/) rules, essentially "Green" is disarmed (safe-to-approach), "Red" is armed (not safe-to-approach). Traffic light is a simplified color set, red when armed, yellow when the safety switch is not surpressing outputs (but disarmed), and green when outputs are surpressed and disarmed, the LED will blink faster if disarmed and failing arming checks.
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// @Values: 0:Standard,1:MAVLink/Scripting/AP_Periph,2:OutbackChallenge,3:TrafficLight
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// @User: Advanced
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AP_GROUPINFO("LED_OVERRIDE", 2, AP_Notify, _rgb_led_override, NOTIFY_LED_OVERRIDE_DEFAULT),
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// @Param: DISPLAY_TYPE
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// @DisplayName: Type of on-board I2C display
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// @Description: This sets up the type of on-board I2C display. Disabled by default.
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// @Values: 0:Disable,1:ssd1306,2:sh1106,10:SITL
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// @User: Advanced
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AP_GROUPINFO("DISPLAY_TYPE", 3, AP_Notify, _display_type, 0),
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#if !HAL_MINIMIZE_FEATURES
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// @Param: OREO_THEME
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// @DisplayName: OreoLED Theme
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// @Description: Enable/Disable Solo Oreo LED driver, 0 to disable, 1 for Aircraft theme, 2 for Rover theme
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// @Values: 0:Disabled,1:Aircraft,2:Rover
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// @User: Advanced
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AP_GROUPINFO("OREO_THEME", 4, AP_Notify, _oreo_theme, 0),
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#endif
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#if !defined(HAL_BUZZER_PIN)
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// @Param: BUZZ_PIN
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// @DisplayName: Buzzer pin
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// @Description: Enables to connect active buzzer to arbitrary pin. Requires 3-pin buzzer or additional MOSFET!
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// @Values: 0:Disabled
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// @User: Advanced
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AP_GROUPINFO("BUZZ_PIN", 5, AP_Notify, _buzzer_pin, 0),
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#endif
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// @Param: LED_TYPES
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// @DisplayName: LED Driver Types
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// @Description: Controls what types of LEDs will be enabled
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// @Bitmask: 0:Build in LED, 1:Internal ToshibaLED, 2:External ToshibaLED, 3:External PCA9685, 4:Oreo LED, 5:UAVCAN, 6:NCP5623 External, 7:NCP5623 Internal, 8:NeoPixel, 9:ProfiLED, 10:Scripting
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// @User: Advanced
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AP_GROUPINFO("LED_TYPES", 6, AP_Notify, _led_type, BUILD_DEFAULT_LED_TYPE),
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#if !defined(HAL_BUZZER_PIN)
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// @Param: BUZZ_ON_LVL
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// @DisplayName: Buzzer-on pin logic level
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// @Description: Specifies pin level that indicates buzzer should play
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// @Values: 0:LowIsOn,1:HighIsOn
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// @User: Advanced
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AP_GROUPINFO("BUZZ_ON_LVL", 7, AP_Notify, _buzzer_level, 1),
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#endif
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// @Param: BUZZ_VOLUME
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// @DisplayName: Buzzer volume
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// @Description: Control the volume of the buzzer
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// @Range: 0 100
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// @Units: %
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AP_GROUPINFO("BUZZ_VOLUME", 8, AP_Notify, _buzzer_volume, 100),
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// @Param: LED_LEN
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// @DisplayName: Serial LED String Length
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// @Description: The number of Serial LED's to use for notifications (NeoPixel's and ProfiLED)
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// @Range: 1 32
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// @User: Advanced
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// @RebootRequired: True
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AP_GROUPINFO("LED_LEN", 9, AP_Notify, _led_len, NOTIFY_LED_LEN_DEFAULT),
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AP_GROUPEND
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};
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// Default constructor
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AP_Notify::AP_Notify()
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{
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AP_Param::setup_object_defaults(this, var_info);
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if (_singleton != nullptr) {
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AP_HAL::panic("AP_Notify must be singleton");
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}
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_singleton = this;
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}
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// static flags, to allow for direct class update from device drivers
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struct AP_Notify::notify_flags_and_values_type AP_Notify::flags;
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struct AP_Notify::notify_events_type AP_Notify::events;
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NotifyDevice *AP_Notify::_devices[CONFIG_NOTIFY_DEVICES_MAX];
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uint8_t AP_Notify::_num_devices;
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void AP_Notify::add_backend_helper(NotifyDevice *backend)
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{
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_devices[_num_devices] = backend;
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_devices[_num_devices]->pNotify = this;
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if(!_devices[_num_devices]->init()) {
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delete _devices[_num_devices];
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_devices[_num_devices] = nullptr;
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} else {
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_num_devices++;
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}
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}
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#define ADD_BACKEND(backend) do { add_backend_helper(backend); if (_num_devices >= CONFIG_NOTIFY_DEVICES_MAX) return;} while(0)
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// add notify backends to _devices array
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void AP_Notify::add_backends(void)
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{
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if (_num_devices != 0) {
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return;
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}
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for (uint32_t i = 1; i < Notify_LED_MAX; i = i << 1) {
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switch(_led_type & i) {
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case Notify_LED_None:
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break;
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case Notify_LED_Board:
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// select the most appropriate built in LED driver type
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#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2
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ADD_BACKEND(new Led_Sysfs("rgb_led0", "rgb_led2", "rgb_led1"));
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE
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ADD_BACKEND(new RCOutputRGBLedInverted(12, 13, 14));
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH
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ADD_BACKEND(new RCOutputRGBLed(HAL_RCOUT_RGBLED_RED, HAL_RCOUT_RGBLED_GREEN, HAL_RCOUT_RGBLED_BLUE));
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
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ADD_BACKEND(new DiscoLED());
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR
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ADD_BACKEND(new NavigatorLED());
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#endif
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#endif // CONFIG_HAL_BOARD == HAL_BOARD_LINUX
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_VRBRAIN_V51 || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_VRBRAIN_V52 || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_VRUBRAIN_V51 || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_VRCORE_V10 || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_VRBRAIN_V54
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ADD_BACKEND(new ExternalLED()); // despite the name this is a built in set of onboard LED's
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#endif // CONFIG_HAL_BOARD_SUBTYPE == various CHIBIOS-VRBRAINs
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#if defined(HAL_HAVE_PIXRACER_LED)
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ADD_BACKEND(new PixRacerLED());
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#elif (defined(HAL_GPIO_A_LED_PIN) && defined(HAL_GPIO_B_LED_PIN) && defined(HAL_GPIO_C_LED_PIN))
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_VRBRAIN_V51 || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_VRBRAIN_V52 || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_VRUBRAIN_V51 || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_VRCORE_V10 || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_VRBRAIN_V54
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ADD_BACKEND(new VRBoard_LED());
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#else
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ADD_BACKEND(new AP_BoardLED());
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#endif
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#elif (defined(HAL_GPIO_A_LED_PIN) && defined(HAL_GPIO_B_LED_PIN))
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ADD_BACKEND(new AP_BoardLED2());
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#endif
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break;
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case Notify_LED_ToshibaLED_I2C_Internal:
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ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_INTERNAL));
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break;
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case Notify_LED_ToshibaLED_I2C_External:
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ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_EXTERNAL));
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break;
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#if !HAL_MINIMIZE_FEATURES
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case Notify_LED_NCP5623_I2C_External:
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FOREACH_I2C_EXTERNAL(b) {
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ADD_BACKEND(new NCP5623(b));
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}
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break;
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case Notify_LED_NCP5623_I2C_Internal:
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ADD_BACKEND(new NCP5623(TOSHIBA_LED_I2C_BUS_INTERNAL));
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break;
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#endif
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case Notify_LED_PCA9685LED_I2C_External:
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ADD_BACKEND(new PCA9685LED_I2C());
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break;
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case Notify_LED_NeoPixel:
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ADD_BACKEND(new NeoPixel());
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break;
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case Notify_LED_ProfiLED:
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ADD_BACKEND(new ProfiLED());
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break;
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case Notify_LED_OreoLED:
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#if !HAL_MINIMIZE_FEATURES
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if (_oreo_theme) {
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ADD_BACKEND(new OreoLED_I2C(0, _oreo_theme));
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}
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#endif
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break;
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case Notify_LED_UAVCAN:
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#if HAL_ENABLE_LIBUAVCAN_DRIVERS
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ADD_BACKEND(new UAVCAN_RGB_LED(0));
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#endif // HAL_ENABLE_LIBUAVCAN_DRIVERS
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break;
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case Notify_LED_Scripting:
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#ifdef ENABLE_SCRIPTING
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ADD_BACKEND(new ScriptingLED());
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#endif
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break;
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}
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}
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// Always try and add a display backend
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ADD_BACKEND(new Display());
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// ChibiOS noise makers
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#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
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ADD_BACKEND(new Buzzer());
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#ifdef HAL_PWM_ALARM
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ADD_BACKEND(new AP_ToneAlarm());
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#endif
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// Linux noise makers
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#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2 || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RST_ZYNQ || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE
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// No noise makers, keep this though to ensure that the final else is safe
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_POCKET
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ADD_BACKEND(new Buzzer());
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#else // other linux
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ADD_BACKEND(new AP_ToneAlarm());
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#endif
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#elif CONFIG_HAL_BOARD == HAL_BOARD_SITL
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ADD_BACKEND(new AP_ToneAlarm());
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ADD_BACKEND(new Buzzer());
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#ifdef WITH_SITL_RGBLED
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ADD_BACKEND(new SITL_SFML_LED());
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#endif
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#endif // Noise makers
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}
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// initialisation
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void AP_Notify::init(void)
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{
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// clear all flags and events
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memset(&AP_Notify::flags, 0, sizeof(AP_Notify::flags));
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memset(&AP_Notify::events, 0, sizeof(AP_Notify::events));
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// add all the backends
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add_backends();
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}
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// main update function, called at 50Hz
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void AP_Notify::update(void)
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{
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for (uint8_t i = 0; i < _num_devices; i++) {
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if (_devices[i] != nullptr) {
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_devices[i]->update();
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}
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}
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//reset the events
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memset(&AP_Notify::events, 0, sizeof(AP_Notify::events));
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}
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// handle a LED_CONTROL message
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void AP_Notify::handle_led_control(const mavlink_message_t &msg)
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{
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for (uint8_t i = 0; i < _num_devices; i++) {
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if (_devices[i] != nullptr) {
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_devices[i]->handle_led_control(msg);
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}
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}
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}
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// handle RGB from Scripting or AP_Periph
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void AP_Notify::handle_rgb(uint8_t r, uint8_t g, uint8_t b, uint8_t rate_hz)
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{
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for (uint8_t i = 0; i < _num_devices; i++) {
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if (_devices[i] != nullptr) {
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_devices[i]->rgb_control(r, g, b, rate_hz);
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}
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}
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}
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// handle a PLAY_TUNE message
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void AP_Notify::handle_play_tune(const mavlink_message_t &msg)
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{
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for (uint8_t i = 0; i < _num_devices; i++) {
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if (_devices[i] != nullptr) {
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_devices[i]->handle_play_tune(msg);
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}
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}
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}
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void AP_Notify::play_tune(const char *tune)
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{
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for (uint8_t i = 0; i < _num_devices; i++) {
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if (_devices[i] != nullptr) {
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_devices[i]->play_tune(tune);
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}
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}
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}
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// set flight mode string
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void AP_Notify::set_flight_mode_str(const char *str)
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{
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strncpy(_flight_mode_str, str, 4);
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_flight_mode_str[sizeof(_flight_mode_str)-1] = 0;
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}
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|
|
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void AP_Notify::send_text(const char *str)
|
|
{
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|
strncpy(_send_text, str, sizeof(_send_text));
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|
_send_text[sizeof(_send_text)-1] = 0;
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|
_send_text_updated_millis = AP_HAL::millis();
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|
}
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|
|
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// convert 0-3 to 0-100
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|
int8_t AP_Notify::get_rgb_led_brightness_percent() const
|
|
{
|
|
switch (_rgb_led_brightness) {
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|
default:
|
|
case RGB_LED_OFF:
|
|
return 0;
|
|
case RGB_LED_LOW:
|
|
return 33;
|
|
case RGB_LED_MEDIUM:
|
|
return 66;
|
|
case RGB_LED_HIGH:
|
|
return 100;
|
|
}
|
|
}
|
|
|
|
namespace AP {
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|
|
|
AP_Notify ¬ify()
|
|
{
|
|
return *AP_Notify::get_singleton();
|
|
}
|
|
|
|
};
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