forked from Archive/PX4-Autopilot
84 lines
2.8 KiB
C++
84 lines
2.8 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2016-2020 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#pragma once
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#include <px4_platform_common/log.h>
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#include <px4_platform_common/module.h>
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#include <px4_platform_common/px4_config.h>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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#include <lib/led/led.h>
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class NavioRGBLed : public ModuleBase<NavioRGBLed>, public px4::ScheduledWorkItem
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{
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public:
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NavioRGBLed();
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~NavioRGBLed() override;
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/** @see ModuleBase */
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static int task_spawn(int argc, char *argv[]);
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/** @see ModuleBase */
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static int custom_command(int argc, char *argv[]);
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/** @see ModuleBase */
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static int print_usage(const char *reason = nullptr);
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int init();
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private:
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void Run() override;
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LedController _led_controller;
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class SysRGBLED
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{
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public:
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explicit SysRGBLED(const char *path) : _fd(open(path, O_WRONLY)) {}
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~SysRGBLED() { close(_fd); }
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bool on() { return (write(_fd, "0", 1) > 0); }
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bool off() { return (write(_fd, "1", 1) > 0); }
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private:
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int _fd{-1};
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};
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SysRGBLED _ledR{"/sys/class/leds/rgb_led0/brightness"};
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SysRGBLED _ledG{"/sys/class/leds/rgb_led1/brightness"};
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SysRGBLED _ledB{"/sys/class/leds/rgb_led2/brightness"};
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};
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