mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
110 lines
3.5 KiB
C++
110 lines
3.5 KiB
C++
/****************************************************************************
|
|
*
|
|
* 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>
|
|
|
|
namespace events
|
|
{
|
|
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;
|
|
}
|
|
|
|
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 */
|