mirror of https://github.com/ArduPilot/ardupilot
100 lines
3.3 KiB
C++
100 lines
3.3 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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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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// static flags, to allow for direct class update from device drivers
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struct AP_Notify::notify_flags_type AP_Notify::flags;
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struct AP_Notify::notify_events_type AP_Notify::events;
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
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AP_BoardLED boardled;
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ToshibaLED_PX4 toshibaled;
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ToneAlarm_PX4 tonealarm;
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#if OREOLED_ENABLED
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OreoLED_PX4 oreoled;
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NotifyDevice *AP_Notify::_devices[] = {&boardled, &toshibaled, &tonealarm, &oreoled};
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#else
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NotifyDevice *AP_Notify::_devices[] = {&boardled, &toshibaled, &tonealarm};
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#endif
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#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_APM2
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AP_BoardLED boardled;
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ExternalLED externalled;
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Buzzer buzzer;
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NotifyDevice *AP_Notify::_devices[] = {&boardled, &externalled, &buzzer};
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#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
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Buzzer buzzer;
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_VRBRAIN_V45
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AP_BoardLED boardled;
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#else
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VRBoard_LED boardled;
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#endif
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ToshibaLED_I2C toshibaled;
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ExternalLED externalled;
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NotifyDevice *AP_Notify::_devices[] = {&boardled, &toshibaled, &externalled, &buzzer};
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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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AP_BoardLED boardled;
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NavioLED_I2C navioled;
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ToshibaLED_I2C toshibaled;
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NotifyDevice *AP_Notify::_devices[] = {&boardled, &navioled, &toshibaled};
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#else
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AP_BoardLED boardled;
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ToshibaLED_I2C toshibaled;
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ToneAlarm_Linux tonealarm;
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NotifyDevice *AP_Notify::_devices[] = {&boardled, &toshibaled, &tonealarm};
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#endif
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#else
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AP_BoardLED boardled;
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ToshibaLED_I2C toshibaled;
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NotifyDevice *AP_Notify::_devices[] = {&boardled, &toshibaled};
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#endif
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#define CONFIG_NOTIFY_DEVICES_COUNT (ARRAY_SIZE(AP_Notify::_devices))
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// initialisation
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void AP_Notify::init(bool enable_external_leds)
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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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AP_Notify::flags.external_leds = enable_external_leds;
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for (uint8_t i = 0; i < CONFIG_NOTIFY_DEVICES_COUNT; i++) {
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_devices[i]->init();
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}
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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 < CONFIG_NOTIFY_DEVICES_COUNT; i++) {
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_devices[i]->update();
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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(mavlink_message_t *msg)
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{
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for (uint8_t i = 0; i < CONFIG_NOTIFY_DEVICES_COUNT; i++) {
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_devices[i]->handle_led_control(msg);
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}
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}
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