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led drivers and controller move to uORB::Subscription

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This commit is contained in:
Daniel Agar
2019-08-20 14:03:23 -04:00
committed by GitHub
parent 41dee3875e
commit 5ae408382b
7 changed files with 101 additions and 216 deletions
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src/lib/led/led.cpp
+8 -15
View File
@@ -38,24 +38,13 @@
#include "led.h"
int LedController::init(int led_control_sub)
{
_led_control_sub = led_control_sub;
_last_update_call = hrt_absolute_time();
return 0;
}
int LedController::update(LedControlData &control_data)
{
bool updated = false;
orb_check(_led_control_sub, &updated);
while (updated || _force_update) {
while (_led_control_sub.updated() || _force_update) {
// handle new state
led_control_s led_control;
if (orb_copy(ORB_ID(led_control), _led_control_sub, &led_control) == 0) {
if (_led_control_sub.copy(&led_control)) {
// don't apply the new state just yet to avoid interrupting an ongoing blinking state
for (int i = 0; i < BOARD_MAX_LEDS; ++i) {
@@ -80,14 +69,18 @@ int LedController::update(LedControlData &control_data)
}
_force_update = false;
orb_check(_led_control_sub, &updated);
}
bool had_changes = false; // did one of the outputs change?
// handle state updates
hrt_abstime now = hrt_absolute_time();
if (_last_update_call == 0) {
_last_update_call = now;
return 0;
}
uint16_t blink_delta_t = (uint16_t)((now - _last_update_call) / 100); // Note: this is in 0.1ms
constexpr uint16_t breathe_duration = BREATHE_INTERVAL * BREATHE_STEPS / 100;
src/lib/led/led.h
+11 -23
View File
@@ -44,6 +44,8 @@
#include <drivers/drv_hrt.h>
#include <drivers/drv_led.h>
#include <uORB/Subscription.hpp>
#include <uORB/topics/led_control.h>
struct LedControlDataSingle {
uint8_t color; ///< one of led_control_s::COLOR_*
@@ -64,18 +66,6 @@ public:
LedController() = default;
~LedController() = default;
/**
* initialize. Call this once before using the object
* @param led_control_sub uorb subscription for led_control
* @return 0 on success, <0 on error otherwise
*/
int init(int led_control_sub);
/**
* check if already initialized
*/
bool is_init() const { return _led_control_sub >= 0; }
/**
* get maxium time between two consecutive calls to update() in us.
*/
@@ -92,18 +82,16 @@ public:
*/
int update(LedControlData &control_data);
static const int BREATHE_INTERVAL = 25 * 1000; /**< single step when in breathe mode */
static const int BREATHE_STEPS = 64; /**< number of steps in breathe mode for a full on-off cycle */
static constexpr int BREATHE_INTERVAL = 25 * 1000; /**< single step when in breathe mode */
static constexpr int BREATHE_STEPS = 64; /**< number of steps in breathe mode for a full on-off cycle */
static const int BLINK_FAST_DURATION = 100 * 1000; /**< duration of half a blinking cycle
static constexpr int BLINK_FAST_DURATION = 100 * 1000; /**< duration of half a blinking cycle
(on-to-off and off-to-on) in us */
static const int BLINK_NORMAL_DURATION = 500 * 1000; /**< duration of half a blinking cycle
static constexpr int BLINK_NORMAL_DURATION = 500 * 1000; /**< duration of half a blinking cycle
(on-to-off and off-to-on) in us */
static const int BLINK_SLOW_DURATION = 2000 * 1000; /**< duration of half a blinking cycle
static constexpr int BLINK_SLOW_DURATION = 2000 * 1000; /**< duration of half a blinking cycle
(on-to-off and off-to-on) in us */
int led_control_subscription() const { return _led_control_sub; }
private:
/** set control_data based on current Led states */
@@ -186,8 +174,8 @@ private:
PerLedData _states[BOARD_MAX_LEDS]; ///< keep current LED states
int _led_control_sub = -1; ///< uorb subscription
hrt_abstime _last_update_call;
bool _force_update = true; ///< force an orb_copy in the beginning
bool _breathe_enabled = false; ///< true if at least one of the led's is currently in breathe mode
uORB::Subscription _led_control_sub{ORB_ID(led_control)}; ///< uorb subscription
hrt_abstime _last_update_call{0};
bool _force_update{true}; ///< force an orb_copy in the beginning
bool _breathe_enabled{false}; ///< true if at least one of the led's is currently in breathe mode
};