PX4-Autopilot/src/systemcmds/led_control/led_control.cpp

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/**
 * @file led_control.cpp
 */

#include <px4_platform_common/getopt.h>
#include <px4_platform_common/module.h>
#include <px4_platform_common/log.h>

#include <stdlib.h>
#include <unistd.h>

#include <drivers/drv_hrt.h>
#include <drivers/drv_led.h>

#include <uORB/Publication.hpp>
#include <uORB/topics/led_control.h>

static void	usage();

extern "C" {
	__EXPORT int led_control_main(int argc, char *argv[]);
}

static void publish_led_control(led_control_s &led_control)
{
	led_control.timestamp = hrt_absolute_time();

	uORB::Publication<led_control_s> led_control_pub{ORB_ID(led_control)};
	led_control_pub.publish(led_control);
}

static void run_led_test1()
{
	PX4_INFO("generating LED pattern...");

	led_control_s led_control = {};
	led_control.led_mask = 0xff;
	led_control.mode = led_control_s::MODE_OFF;
	led_control.priority = led_control_s::MAX_PRIORITY;
	publish_led_control(led_control);

	px4_usleep(200 * 1000);

	// generate some pattern
	for (int round = led_control_s::COLOR_RED; round <= led_control_s::COLOR_WHITE; ++round) {
		for (int led = 0; led < BOARD_MAX_LEDS; ++led) {
			led_control.led_mask = 1 << led;
			led_control.mode = led_control_s::MODE_ON;
			led_control.color = round;
			publish_led_control(led_control);
			px4_usleep(80 * 1000);
		}

		px4_usleep(100 * 1000);
		led_control.led_mask = 0xff;

		for (int i = 0; i < 3; ++i) {
			led_control.mode = led_control_s::MODE_ON;
			publish_led_control(led_control);
			px4_usleep(100 * 1000);
			led_control.mode = led_control_s::MODE_OFF;
			publish_led_control(led_control);
			px4_usleep(100 * 1000);
		}

		px4_usleep(200 * 1000);
	}

	px4_usleep(500 * 1000);

	// reset
	led_control.led_mask = 0xff;
	led_control.mode = led_control_s::MODE_DISABLED;
	publish_led_control(led_control);

	PX4_INFO("Done");
}

int
led_control_main(int argc, char *argv[])
{
	int myoptind = 1;
	int ch;
	const char *myoptarg = nullptr;
	uint8_t blink_speed = led_control_s::MODE_BLINK_NORMAL;
	led_control_s led_control = {};
	led_control.num_blinks = 3;
	led_control.priority = led_control_s::MAX_PRIORITY;
	led_control.mode = 0xff;
	led_control.led_mask = 0xff;
	led_control.color = led_control_s::COLOR_WHITE;

	while ((ch = px4_getopt(argc, argv, "c:l:n:s:p:", &myoptind, &myoptarg)) != EOF) {
		switch (ch) {
		case 'c':
			if (!strcmp(myoptarg, "red")) {
				led_control.color = led_control_s::COLOR_RED;

			} else if (!strcmp(myoptarg, "blue")) {
				led_control.color = led_control_s::COLOR_BLUE;

			} else if (!strcmp(myoptarg, "green")) {
				led_control.color = led_control_s::COLOR_GREEN;

			} else if (!strcmp(myoptarg, "yellow")) {
				led_control.color = led_control_s::COLOR_YELLOW;

			} else if (!strcmp(myoptarg, "purple")) {
				led_control.color = led_control_s::COLOR_PURPLE;

			} else if (!strcmp(myoptarg, "amber")) {
				led_control.color = led_control_s::COLOR_AMBER;

			} else if (!strcmp(myoptarg, "cyan")) {
				led_control.color = led_control_s::COLOR_CYAN;

			} else if (!strcmp(myoptarg, "white")) {
				led_control.color = led_control_s::COLOR_WHITE;

			} else {
				usage();
				return 1;
			}

			break;

		case 'l':
			led_control.led_mask = 1 << strtol(myoptarg, nullptr, 0);
			break;

		case 'n':
			led_control.num_blinks = strtol(myoptarg, nullptr, 0);
			break;

		case 's':
			if (!strcmp(myoptarg, "fast")) {
				blink_speed = led_control_s::MODE_BLINK_FAST;

			} else if (!strcmp(myoptarg, "normal")) {
				blink_speed = led_control_s::MODE_BLINK_NORMAL;

			} else if (!strcmp(myoptarg, "slow")) {
				blink_speed = led_control_s::MODE_BLINK_SLOW;

			} else {
				usage();
				return 1;
			}

			break;

		case 'p':
			led_control.priority = strtol(myoptarg, nullptr, 0);
			break;

		default:
			usage();
			return -1;
			break;
		}
	}

	if (led_control.priority > led_control_s::MAX_PRIORITY) {
		led_control.priority = led_control_s::MAX_PRIORITY;
	}

	if (myoptind >= argc) {
		usage();
		return 1;
	}

	if (!strcmp(argv[myoptind], "test")) {
		run_led_test1();

	} else if (!strcmp(argv[myoptind], "on")) {
		led_control.mode = led_control_s::MODE_ON;

	} else if (!strcmp(argv[myoptind], "off")) {
		led_control.mode = led_control_s::MODE_OFF;

	} else if (!strcmp(argv[myoptind], "reset")) {
		led_control.mode = led_control_s::MODE_DISABLED;

	} else if (!strcmp(argv[myoptind], "blink")) {
		led_control.mode = blink_speed;

	} else if (!strcmp(argv[myoptind], "breathe")) {
		led_control.mode = led_control_s::MODE_BREATHE;

	} else if (!strcmp(argv[myoptind], "flash")) {
		led_control.mode = led_control_s::MODE_FLASH;

	} else {
		usage();
		return 1;
	}

	if (led_control.mode != 0xff) {
		publish_led_control(led_control);
	}

	return 0;
}

static void
usage()
{
	PRINT_MODULE_DESCRIPTION(
		R"DESCR_STR(
### Description
Command-line tool to control & test the (external) LED's.

To use it make sure there's a driver running, which handles the led_control uorb topic.

There are different priorities, such that for example one module can set a color with low priority, and another
module can blink N times with high priority, and the LED's automatically return to the lower priority state
after the blinking. The `reset` command can also be used to return to a lower priority.

### Examples
Blink the first LED 5 times in blue:
$ led_control blink -c blue -l 0 -n 5

)DESCR_STR");

	PRINT_MODULE_USAGE_NAME("led_control", "command");

	PRINT_MODULE_USAGE_COMMAND_DESCR("test", "Run a test pattern");
	PRINT_MODULE_USAGE_COMMAND_DESCR("on", "Turn LED on");
	PRINT_MODULE_USAGE_COMMAND_DESCR("off", "Turn LED off");
	PRINT_MODULE_USAGE_COMMAND_DESCR("reset", "Reset LED priority");
	PRINT_MODULE_USAGE_COMMAND_DESCR("blink", "Blink LED N times");
	PRINT_MODULE_USAGE_PARAM_INT('n', 3, 1, 20, "Number of blinks", true);
	PRINT_MODULE_USAGE_PARAM_STRING('s', "normal", "fast|normal|slow", "Set blinking speed", true);
	PRINT_MODULE_USAGE_COMMAND_DESCR("breathe", "Continuously fade LED in & out");
	PRINT_MODULE_USAGE_COMMAND_DESCR("flash", "Two fast blinks and then off with frequency of 1Hz");

	PRINT_MODULE_USAGE_PARAM_COMMENT("The following arguments apply to all of the above commands except for 'test':");
	PRINT_MODULE_USAGE_PARAM_STRING('c', "white", "red|blue|green|yellow|purple|amber|cyan|white", "color", true);
	PRINT_MODULE_USAGE_PARAM_INT('l', -1, 0, 100, "Which LED to control: 0, 1, 2, ... (default=all)", true);
	PRINT_MODULE_USAGE_PARAM_INT('p', 2, 0, 2, "Priority", true);
}