add subscriber handler and status displays

2026-06-30 18:30:34 +08:00 · 2017-10-23 10:32:26 +02:00
parent ba11e0dc44
commit 9be8d6acc9
8 changed files with 456 additions and 12 deletions
@@ -0,0 +1,113 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2017 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file status_display.cpp
+ * Status Display: this decouples the LED and tune logic from the control logic in commander
+ *
+ * @author Simone Guscetti <simone@px4.io>
+ * @author Beat Küng <beat-kueng@gmx.net>
+ * @editor Christoph Tobler <christoph@px4.io>
+ */
+
+#include "status_display.h"
+#include <drivers/drv_led.h>
+
+using namespace status;
+
+StatusDisplay::StatusDisplay(const events::SubscriberHandler &subscriber_handler)
+	: _subscriber_handler(subscriber_handler)
+{
+	// set the base color
+	_led_control.priority = 0;
+	_led_control.led_mask = 0xff;
+	_led_control.color = led_control_s::COLOR_CYAN;
+	_led_control.mode = led_control_s::MODE_ON;
+	publish();
+
+	_led_control.priority = 1;
+	_led_control.num_blinks = 0;	// infinite blinking
+}
+
+bool StatusDisplay::check_for_updates()
+{
+	bool got_updates = false;
+
+	if (_subscriber_handler.battery_status_updated()) {
+		orb_copy(ORB_ID(battery_status), _subscriber_handler.get_battery_status_sub(), &_battery_status);
+		got_updates = true;
+	}
+
+	if (_subscriber_handler.cpuload_updated()) {
+		orb_copy(ORB_ID(cpuload), _subscriber_handler.get_cpuload_sub(), &_cpu_load);
+		got_updates = true;
+	}
+
+	if (_subscriber_handler.vehicle_status_flags_updated()) {
+		orb_copy(ORB_ID(vehicle_status_flags), _subscriber_handler.get_vehicle_status_flags_sub(), &_vehicle_status_flags);
+		got_updates = true;
+	}
+
+	if (_subscriber_handler.vehicle_status_updated()) {
+		orb_copy(ORB_ID(vehicle_status), _subscriber_handler.get_vehicle_status_sub(), &_vehicle_status);
+		got_updates = true;
+	}
+
+	if (_subscriber_handler.vehicle_attitude_updated()) {
+		orb_copy(ORB_ID(vehicle_attitude), _subscriber_handler.get_vehicle_attitude_sub(), &_vehicle_attitude);
+		got_updates = true;
+	}
+
+	return got_updates;
+}
+
+void StatusDisplay::process()
+{
+	if (!check_for_updates()) {
+		return;
+	}
+
+	set_leds();
+}
+
+void StatusDisplay::publish()
+{
+	_led_control.timestamp = hrt_absolute_time();
+
+	if (_led_control_pub != nullptr) {
+		orb_publish(ORB_ID(led_control), _led_control_pub, &_led_control);
+
+	} else {
+		_led_control_pub =  orb_advertise_queue(ORB_ID(led_control), &_led_control, LED_UORB_QUEUE_LENGTH);
+	}
+}