mirror of https://github.com/ArduPilot/ardupilot
66 lines
1.4 KiB
C++
66 lines
1.4 KiB
C++
#include "SIM_RGBLED.h"
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#ifdef WITH_SITL_RGBLED
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#include <AP_HAL/HAL.h>
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#ifdef HAVE_SFML_GRAPHICS_H
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#include <SFML/Graphics.h>
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#else
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#include <SFML/Graphics.hpp>
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#endif
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#include <AP_Notify/AP_Notify.h>
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void SIM_RGBLED::update_thread(void)
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{
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sf::RenderWindow *w = nullptr;
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{
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WITH_SEMAPHORE(AP::notify().sf_window_mutex);
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w = NEW_NOTHROW sf::RenderWindow(sf::VideoMode(width, height), name);
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}
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if (w == nullptr) {
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AP_HAL::panic("Unable to create SIM_RGBLED window");
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}
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while (true) {
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{
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WITH_SEMAPHORE(AP::notify().sf_window_mutex);
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sf::Event event;
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while (w->pollEvent(event)) {
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if (event.type == sf::Event::Closed) {
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w->close();
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break;
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}
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}
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if (!w->isOpen()) {
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break;
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}
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const uint32_t colour = red<<16 | green<<8 | blue;
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if (colour != last_colour) {
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last_colour = colour;
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w->clear(sf::Color(red, green, blue, 255));
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w->display();
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}
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}
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usleep(10000);
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}
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}
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// trampoline for update thread
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void *SIM_RGBLED::update_thread_start(void *obj)
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{
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((SIM_RGBLED *)obj)->update_thread();
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return nullptr;
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}
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#endif // WITH_SITL_RGBLED
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void SIM_RGBLED::init()
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{
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#ifdef WITH_SITL_RGBLED
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pthread_create(&thread, NULL, update_thread_start, this);
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#endif
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}
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