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Changed RGBLED behaviour, breathe mode when disarmed and ready to arm

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This commit is contained in:
Julian Oes
2013-08-29 16:45:33 +02:00
parent 55cfa5152c
commit 9bcfe49cff
3 changed files with 78 additions and 65 deletions
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src/modules/commander/commander.cpp
+35 -60
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@@ -689,6 +689,8 @@ int commander_thread_main(int argc, char *argv[])
struct subsystem_info_s info;
memset(&info, 0, sizeof(info));
toggle_status_leds(&status, &armed, true);
/* now initialized */
commander_initialized = true;
thread_running = true;
@@ -1252,72 +1254,45 @@ toggle_status_leds(vehicle_status_s *status, actuator_armed_s *armed, bool chang
if (changed) {
int i;
rgbled_pattern_t pattern;
memset(&pattern, 0, sizeof(pattern));
/* XXX TODO blink fast when armed and serious error occurs */
if (armed->armed) {
/* armed, solid */
if (status->battery_warning == VEHICLE_BATTERY_WARNING_LOW) {
pattern.color[0] = (on_usb_power) ? RGBLED_COLOR_DIM_AMBER : RGBLED_COLOR_AMBER;
} else if (status->battery_warning == VEHICLE_BATTERY_WARNING_CRITICAL) {
pattern.color[0] = (on_usb_power) ? RGBLED_COLOR_DIM_RED : RGBLED_COLOR_RED;
} else {
pattern.color[0] = (on_usb_power) ? RGBLED_COLOR_DIM_GREEN : RGBLED_COLOR_GREEN;
}
pattern.duration[0] = 1000;
rgbled_set_mode(RGBLED_MODE_ON);
} else if (armed->ready_to_arm) {
for (i = 0; i < 3; i++) {
if (status->battery_warning == VEHICLE_BATTERY_WARNING_LOW) {
pattern.color[i * 2] = (on_usb_power) ? RGBLED_COLOR_DIM_AMBER : RGBLED_COLOR_AMBER;
} else if (status->battery_warning == VEHICLE_BATTERY_WARNING_CRITICAL) {
pattern.color[i * 2] = (on_usb_power) ? RGBLED_COLOR_DIM_RED : RGBLED_COLOR_RED;
} else {
pattern.color[i * 2] = (on_usb_power) ? RGBLED_COLOR_DIM_GREEN : RGBLED_COLOR_GREEN;
}
pattern.duration[i * 2] = 200;
pattern.color[i * 2 + 1] = RGBLED_COLOR_OFF;
pattern.duration[i * 2 + 1] = 800;
}
if (status->condition_global_position_valid) {
pattern.color[i * 2] = (on_usb_power) ? RGBLED_COLOR_DIM_BLUE : RGBLED_COLOR_BLUE;
pattern.duration[i * 2] = 1000;
pattern.color[i * 2 + 1] = RGBLED_COLOR_OFF;
pattern.duration[i * 2 + 1] = 800;
} else {
for (i = 3; i < 6; i++) {
pattern.color[i * 2] = (on_usb_power) ? RGBLED_COLOR_DIM_BLUE : RGBLED_COLOR_BLUE;
pattern.duration[i * 2] = 100;
pattern.color[i * 2 + 1] = RGBLED_COLOR_OFF;
pattern.duration[i * 2 + 1] = 100;
}
pattern.color[6 * 2] = RGBLED_COLOR_OFF;
pattern.duration[6 * 2] = 700;
}
rgbled_set_mode(RGBLED_MODE_BREATHE);
} else {
for (i = 0; i < 3; i++) {
pattern.color[i * 2] = (on_usb_power) ? RGBLED_COLOR_DIM_RED : RGBLED_COLOR_RED;
pattern.duration[i * 2] = 200;
pattern.color[i * 2 + 1] = RGBLED_COLOR_OFF;
pattern.duration[i * 2 + 1] = 200;
}
/* not ready to arm, blink at 10Hz */
rgbled_set_mode(RGBLED_MODE_BLINK_FAST);
}
rgbled_set_pattern(&pattern);
}
if (status->battery_warning != VEHICLE_BATTERY_WARNING_NONE) {
switch (status->battery_warning) {
case VEHICLE_BATTERY_WARNING_LOW:
rgbled_set_color(RGBLED_COLOR_YELLOW);
break;
case VEHICLE_BATTERY_WARNING_CRITICAL:
rgbled_set_color(RGBLED_COLOR_AMBER);
break;
default:
break;
}
} else {
switch (status->main_state) {
case MAIN_STATE_MANUAL:
rgbled_set_color(RGBLED_COLOR_WHITE);
break;
case MAIN_STATE_SEATBELT:
case MAIN_STATE_EASY:
rgbled_set_color(RGBLED_COLOR_GREEN);
break;
case MAIN_STATE_AUTO:
rgbled_set_color(RGBLED_COLOR_BLUE);
break;
default:
break;
}
}
/* give system warnings on error LED, XXX maybe add memory usage warning too */