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/**
 * @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>

namespace events
{
namespace status
{

StatusDisplay::StatusDisplay()
{
	// 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 (_battery_status_sub.update()) {
		got_updates = true;
	}

	if (_cpu_load_sub.update()) {
		got_updates = true;
	}

	if (_failsafe_flags_sub.update()) {
		got_updates = true;
	}

	if (_vehicle_status_sub.update()) {
		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();
	_led_control_pub.publish(_led_control);
}

} /* namespace status */
} /* namespace events */