PX4-Autopilot/src/drivers/uavcan/rgbled.cpp

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#include "rgbled.hpp"

UavcanRGBController::UavcanRGBController(uavcan::INode &node) :
	ModuleParams(nullptr),
	_node(node),
	_uavcan_pub_lights_cmd(node),
	_timer(node)
{
	_uavcan_pub_lights_cmd.setPriority(uavcan::TransferPriority::Lowest);
}

int UavcanRGBController::init()
{
	// Setup timer and call back function for periodic updates
	_timer.setCallback(TimerCbBinder(this, &UavcanRGBController::periodic_update));
	_timer.startPeriodic(uavcan::MonotonicDuration::fromMSec(1000 / MAX_RATE_HZ));
	return 0;
}

void UavcanRGBController::periodic_update(const uavcan::TimerEvent &)
{
	bool publish_lights = false;
	uavcan::equipment::indication::LightsCommand cmds;

	LedControlData led_control_data;

	if (_led_controller.update(led_control_data) == 1) {
		publish_lights = true;

		// RGB color in the standard 5-6-5 16-bit palette.
		// Monocolor lights should interpret this as brightness setpoint: from zero (0, 0, 0) to full brightness (31, 63, 31).
		uavcan::equipment::indication::SingleLightCommand cmd;

		uint8_t brightness = led_control_data.leds[0].brightness;

		switch (led_control_data.leds[0].color) {
		case led_control_s::COLOR_RED:
			cmd.color.red = brightness >> 3;
			cmd.color.green = 0;
			cmd.color.blue = 0;
			break;

		case led_control_s::COLOR_GREEN:
			cmd.color.red = 0;
			cmd.color.green = brightness >> 2;
			cmd.color.blue = 0;
			break;

		case led_control_s::COLOR_BLUE:
			cmd.color.red = 0;
			cmd.color.green = 0;
			cmd.color.blue = brightness >> 3;
			break;

		case led_control_s::COLOR_AMBER: // make it the same as yellow

		// FALLTHROUGH
		case led_control_s::COLOR_YELLOW:
			cmd.color.red = brightness >> 3;
			cmd.color.green = brightness >> 2;
			cmd.color.blue = 0;
			break;

		case led_control_s::COLOR_PURPLE:
			cmd.color.red = brightness >> 3;
			cmd.color.green = 0;
			cmd.color.blue = brightness >> 3;
			break;

		case led_control_s::COLOR_CYAN:
			cmd.color.red = 0;
			cmd.color.green = brightness >> 2;
			cmd.color.blue = brightness >> 3;
			break;

		case led_control_s::COLOR_WHITE:
			cmd.color.red = brightness >> 3;
			cmd.color.green = brightness >> 2;
			cmd.color.blue = brightness >> 3;
			break;

		default: // led_control_s::COLOR_OFF
			cmd.color.red = 0;
			cmd.color.green = 0;
			cmd.color.blue = 0;
			break;
		}

		cmds.commands.push_back(cmd);

	}

	if (_armed_sub.updated()) {
		publish_lights = true;

		actuator_armed_s armed;

		if (_armed_sub.copy(&armed)) {

			/* Determine the current control mode
			*  If a light's control mode config >= current control mode, the light will be enabled
			*  Logic must match UAVCAN_LGT_* param values.
			* @value 0 Always off
			* @value 1 When autopilot is armed
			* @value 2 When autopilot is prearmed
			* @value 3 Always on
			*/
			uint8_t control_mode = 0;

			if (armed.armed) {
				control_mode = 1;

			} else if (armed.prearmed) {
				control_mode = 2;

			} else {
				control_mode = 3;
			}

			uavcan::equipment::indication::SingleLightCommand cmd;

			// Beacons
			cmd.light_id = uavcan::equipment::indication::SingleLightCommand::LIGHT_ID_ANTI_COLLISION;
			cmd.color = brightness_to_rgb565(_param_mode_anti_col.get() >= control_mode ? 255 : 0);
			cmds.commands.push_back(cmd);

			// Strobes
			cmd.light_id = uavcan::equipment::indication::SingleLightCommand::LIGHT_ID_STROBE;
			cmd.color = brightness_to_rgb565(_param_mode_strobe.get() >= control_mode ? 255 : 0);
			cmds.commands.push_back(cmd);

			// Nav lights
			cmd.light_id = uavcan::equipment::indication::SingleLightCommand::LIGHT_ID_RIGHT_OF_WAY;
			cmd.color = brightness_to_rgb565(_param_mode_nav.get() >= control_mode ? 255 : 0);
			cmds.commands.push_back(cmd);

			// Landing lights
			cmd.light_id = uavcan::equipment::indication::SingleLightCommand::LIGHT_ID_LANDING;
			cmd.color = brightness_to_rgb565(_param_mode_land.get() >= control_mode ? 255 : 0);
			cmds.commands.push_back(cmd);
		}
	}

	if (publish_lights) {
		_uavcan_pub_lights_cmd.broadcast(cmds);
	}
}

uavcan::equipment::indication::RGB565 UavcanRGBController::brightness_to_rgb565(uint8_t brightness)
{
	// RGB color in the standard 5-6-5 16-bit palette.
	// Monocolor lights should interpret this as brightness setpoint: from zero (0, 0, 0) to full brightness (31, 63, 31).
	uavcan::equipment::indication::RGB565 color;

	color.red = (31.0f * (float)brightness / 255.0f);
	color.green = (62.0f * (float)brightness / 255.0f);
	color.blue = (31.0f * (float)brightness / 255.0f);

	return color;
}