PX4-Autopilot/apps/drivers/blinkm/blinkm.cpp

/****************************************************************************
 *
 *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
 *
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 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
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 *    the documentation and/or other materials provided with the
 *    distribution.
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 *    used to endorse or promote products derived from this software
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 *
 * 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
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/**
 * @file blinkm.cpp
 *
 * Driver for the BlinkM LED controller connected via I2C.
 *
 * Connect the BlinkM to I2C3 and put the following line to the rc startup-script:
 * blinkm start
 *
 * To start the system monitor put in the next line after the blinkm start:
 * blinkm systemmonitor
 *
 *
 * Description:
 * After startup, the Application checked how many lipo cells are connected to the System.
 * The recognized number off cells, will be blinked 5 times in purple color.
 * 2 Cells = 2 blinks
 * ...
 * 5 Cells = 5 blinks
 * Now the Application will show the actual selected Flightmode, GPS-Fix and Battery Warnings and Alerts.
 *
 * System disarmed:
 * The BlinkM should lit solid red.
 *
 * System armed:
 * One message is made of 4 Blinks and a pause in the same length as the 4 blinks.
 *
 * X-X-X-X-_-_-_-_-
 * -------------------------
 * G G G M
 * P P P O
 * S S S D
 *       E
 *
 * (X = on, _=off)
 *
 * The first 3 blinks indicates the status of the GPS-Signal (red):
 * 0-4 satellites = X-X-X-X-_-_-_-_-
 *   5 satellites = X-X-_-X-_-_-_-_-
 *   6 satellites = X-_-_-X-_-_-_-_-
 * >=7 satellites = _-_-_-X-_-_-_-_-
 * If no GPS is found the first 3 blinks are white
 *
 * The fourth Blink indicates the Flightmode:
 * MANUAL     : off
 * STABILIZED : yellow
 * HOLD		  : blue
 * AUTO       : green
 *
 * Battery Warning (low Battery Level):
 * Continuously blinking in yellow X-X-X-X-X-X-X-X
 *
 * Battery Alert (critical Battery Level)
 * Continuously blinking in red X-X-X-X-X-X-X-X
 *
 * General Error (no uOrb Data)
 * Continuously blinking in white X-X-X-X-X-X-X-X
 *
 */

#include <nuttx/config.h>

#include <drivers/device/i2c.h>

#include <sys/types.h>
#include <stdint.h>
#include <string.h>
#include <stdlib.h>
#include <stdbool.h>
#include <fcntl.h>
#include <unistd.h>
#include <stdio.h>
#include <ctype.h>

#include <drivers/drv_blinkm.h>

#include <nuttx/wqueue.h>

#include <systemlib/perf_counter.h>
#include <systemlib/err.h>

#include <systemlib/systemlib.h>
#include <poll.h>
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/vehicle_gps_position.h>

static const float MAX_CELL_VOLTAGE	= 4.3f;
static const int LED_ONTIME = 100;
static const int LED_OFFTIME = 100;
static const int LED_BLINK = 1;
static const int LED_NOBLINK = 0;

class BlinkM : public device::I2C
{
public:
	BlinkM(int bus);
	~BlinkM();


	virtual int		init();
	virtual int		probe();
	virtual int		setMode(int mode);
	virtual int		ioctl(struct file *filp, int cmd, unsigned long arg);

	static const char	*script_names[];

private:
	enum ScriptID {
		USER		= 0,
		RGB,
		WHITE_FLASH,
		RED_FLASH,
		GREEN_FLASH,
		BLUE_FLASH,
		CYAN_FLASH,
		MAGENTA_FLASH,
		YELLOW_FLASH,
		BLACK,
		HUE_CYCLE,
		MOOD_LIGHT,
		VIRTUAL_CANDLE,
		WATER_REFLECTIONS,
		OLD_NEON,
		THE_SEASONS,
		THUNDERSTORM,
		STOP_LIGHT,
		MORSE_CODE
	};

	enum ledColors {
		LED_OFF,
		LED_RED,
		LED_YELLOW,
		LED_PURPLE,
		LED_GREEN,
		LED_BLUE,
		LED_WHITE
	};

	work_s			_work;

	int led_color_1;
	int led_color_2;
	int led_color_3;
	int led_color_4;
	int led_color_5;
	int led_color_6;
	int led_blink;

	bool systemstate_run;

	void 			setLEDColor(int ledcolor);
	static void		led_trampoline(void *arg);
	void			led();

	int			set_rgb(uint8_t r, uint8_t g, uint8_t b);

	int			fade_rgb(uint8_t r, uint8_t g, uint8_t b);
	int			fade_hsb(uint8_t h, uint8_t s, uint8_t b);

	int			fade_rgb_random(uint8_t r, uint8_t g, uint8_t b);
	int			fade_hsb_random(uint8_t h, uint8_t s, uint8_t b);

	int			set_fade_speed(uint8_t s);

	int			play_script(uint8_t script_id);
	int			play_script(const char *script_name);
	int			stop_script();

	int			write_script_line(uint8_t line, uint8_t ticks, uint8_t cmd, uint8_t arg1, uint8_t arg2, uint8_t arg3);
	int			read_script_line(uint8_t line, uint8_t &ticks, uint8_t cmd[4]);
	int			set_script(uint8_t length, uint8_t repeats);

	int			get_rgb(uint8_t &r, uint8_t &g, uint8_t &b);

	int			get_firmware_version(uint8_t version[2]);
};

/* for now, we only support one BlinkM */
namespace
{
	BlinkM *g_blinkm;
}

/* list of script names, must match script ID numbers */
const char *BlinkM::script_names[] = {
	"USER",
	"RGB",
	"WHITE_FLASH",
	"RED_FLASH",
	"GREEN_FLASH",
	"BLUE_FLASH",
	"CYAN_FLASH",
	"MAGENTA_FLASH",
	"YELLOW_FLASH",
	"BLACK",
	"HUE_CYCLE",
	"MOOD_LIGHT",
	"VIRTUAL_CANDLE",
	"WATER_REFLECTIONS",
	"OLD_NEON",
	"THE_SEASONS",
	"THUNDERSTORM",
	"STOP_LIGHT",
	"MORSE_CODE",
	nullptr
};


extern "C" __EXPORT int blinkm_main(int argc, char *argv[]);

BlinkM::BlinkM(int bus) :
	I2C("blinkm", BLINKM_DEVICE_PATH, bus, 0x09, 100000),
	led_color_1(LED_OFF),
	led_color_2(LED_OFF),
	led_color_3(LED_OFF),
	led_color_4(LED_OFF),
	led_color_5(LED_OFF),
	led_color_6(LED_OFF),
	led_blink(LED_NOBLINK),
	systemstate_run(false)
{
	memset(&_work, 0, sizeof(_work));
}

BlinkM::~BlinkM()
{
}

int
BlinkM::init()
{
	int ret;
	ret = I2C::init();

	if (ret != OK) {
		warnx("I2C init failed");
		return ret;
	}

	stop_script();
	set_rgb(0,0,0);

	return OK;
}

int
BlinkM::setMode(int mode)
{
	if(mode == 1) {
		if(systemstate_run == false) {
			stop_script();
			set_rgb(0,0,0);
			systemstate_run = true;
			work_queue(LPWORK, &_work, (worker_t)&BlinkM::led_trampoline, this, 1);
		}
	} else {
		systemstate_run = false;
	}

	return OK;
}

int
BlinkM::probe()
{
	uint8_t version[2];
	int ret;

	ret = get_firmware_version(version);

	if (ret == OK)
		log("found BlinkM firmware version %c%c", version[1], version[0]);

	return ret;
}

int
BlinkM::ioctl(struct file *filp, int cmd, unsigned long arg)
{
	int ret = ENOTTY;

	switch (cmd) {
	case BLINKM_PLAY_SCRIPT_NAMED:
		if (arg == 0) {
			ret = EINVAL;
			break;
		}
		ret = play_script((const char *)arg);
		break;

	case BLINKM_PLAY_SCRIPT:
		ret = play_script(arg);
		break;

	case BLINKM_SET_USER_SCRIPT: {
		if (arg == 0) {
			ret = EINVAL;
			break;
		}

		unsigned lines = 0;
		const uint8_t *script = (const uint8_t *)arg;

		while ((lines < 50) && (script[1] != 0)) {
			ret = write_script_line(lines, script[0], script[1], script[2], script[3], script[4]);
			if (ret != OK)
				break;
			script += 5;
		}
		if (ret == OK)
			ret = set_script(lines, 0);
		break;
	}

	default:
		break;
	}

	return ret;
}


void
BlinkM::led_trampoline(void *arg)
{
	BlinkM *bm = (BlinkM *)arg;

	bm->led();
}



void
BlinkM::led()
{

	static int vehicle_status_sub_fd;
	static int vehicle_gps_position_sub_fd;

	static int num_of_cells = 0;
	static int detected_cells_runcount = 0;

	static int t_led_color[6] = { 0, 0, 0, 0, 0, 0};
	static int t_led_blink = 0;
	static int led_thread_runcount=0;
	static int led_interval = 1000;

	static int no_data_vehicle_status = 0;
	static int no_data_vehicle_gps_position = 0;

	static bool topic_initialized = false;
	static bool detected_cells_blinked = false;
	static bool led_thread_ready = true;

	int num_of_used_sats = 0;

	if(!topic_initialized) {
		vehicle_status_sub_fd = orb_subscribe(ORB_ID(vehicle_status));
		orb_set_interval(vehicle_status_sub_fd, 1000);

		vehicle_gps_position_sub_fd = orb_subscribe(ORB_ID(vehicle_gps_position));
		orb_set_interval(vehicle_gps_position_sub_fd, 1000);

		topic_initialized = true;
	}

	if(led_thread_ready == true) {
		if(!detected_cells_blinked) {
			if(num_of_cells > 0) {
				t_led_color[0] = LED_PURPLE;
			}
			if(num_of_cells > 1) {
				t_led_color[1] = LED_PURPLE;
			}
			if(num_of_cells > 2) {
				t_led_color[2] = LED_PURPLE;
			}
			if(num_of_cells > 3) {
				t_led_color[3] = LED_PURPLE;
			}
			if(num_of_cells > 4) {
				t_led_color[4] = LED_PURPLE;
			}
			t_led_color[5] = LED_OFF;
			t_led_blink = LED_BLINK;
		} else {
			t_led_color[0] = led_color_1;
			t_led_color[1] = led_color_2;
			t_led_color[2] = led_color_3;
			t_led_color[3] = led_color_4;
			t_led_color[4] = led_color_5;
			t_led_color[5] = led_color_6;
			t_led_blink = led_blink;
		}
		led_thread_ready = false;
	}

	if (led_thread_runcount & 1) {
		if (t_led_blink)
			setLEDColor(LED_OFF);
		led_interval = LED_OFFTIME;
	} else {
		setLEDColor(t_led_color[(led_thread_runcount / 2) % 6]);
		//led_interval = (led_thread_runcount & 1) : LED_ONTIME;
		led_interval = LED_ONTIME;
	}

	if (led_thread_runcount == 11) {
		/* obtained data for the first file descriptor */
		struct vehicle_status_s vehicle_status_raw;
		struct vehicle_gps_position_s vehicle_gps_position_raw;

		bool new_data_vehicle_status;
		bool new_data_vehicle_gps_position;

		orb_check(vehicle_status_sub_fd, &new_data_vehicle_status);

		if (new_data_vehicle_status) {
			orb_copy(ORB_ID(vehicle_status), vehicle_status_sub_fd, &vehicle_status_raw);
			no_data_vehicle_status = 0;
		} else {
			no_data_vehicle_status++;
			if(no_data_vehicle_status >= 3)
				no_data_vehicle_status = 3;
		}

		orb_check(vehicle_gps_position_sub_fd, &new_data_vehicle_gps_position);

		if (new_data_vehicle_gps_position) {
			orb_copy(ORB_ID(vehicle_gps_position), vehicle_gps_position_sub_fd, &vehicle_gps_position_raw);
			no_data_vehicle_gps_position = 0;
		} else {
			no_data_vehicle_gps_position++;
			if(no_data_vehicle_gps_position >= 3)
				no_data_vehicle_gps_position = 3;
		}



		/* get number of used satellites in navigation */
		num_of_used_sats = 0;
		for(int satloop=0; satloop<20; satloop++) {
			if(vehicle_gps_position_raw.satellite_used[satloop] == 1) {
				num_of_used_sats++;
			}
		}

		if(new_data_vehicle_status || no_data_vehicle_status < 3){
			if(num_of_cells == 0) {
				/* looking for lipo cells that are connected */
				printf("<blinkm> checking cells\n");
				for(num_of_cells = 2; num_of_cells < 7; num_of_cells++) {
					if(vehicle_status_raw.voltage_battery < num_of_cells * MAX_CELL_VOLTAGE) break;
				}
				printf("<blinkm> cells found:%u\n", num_of_cells);

			} else {
				if(vehicle_status_raw.battery_warning == VEHICLE_BATTERY_WARNING_WARNING) {
					/* LED Pattern for battery low warning */
					led_color_1 = LED_YELLOW;
					led_color_2 = LED_YELLOW;
					led_color_3 = LED_YELLOW;
					led_color_4 = LED_YELLOW;
					led_color_5 = LED_YELLOW;
					led_color_6 = LED_YELLOW;
					led_blink = LED_BLINK;

				} else if(vehicle_status_raw.battery_warning == VEHICLE_BATTERY_WARNING_ALERT) {
					/* LED Pattern for battery critical alerting */
					led_color_1 = LED_RED;
					led_color_2 = LED_RED;
					led_color_3 = LED_RED;
					led_color_4 = LED_RED;
					led_color_5 = LED_RED;
					led_color_6 = LED_RED;
					led_blink = LED_BLINK;

				} else {
					/* no battery warnings here */

					if(vehicle_status_raw.flag_system_armed == false) {
						/* system not armed */
						led_color_1 = LED_RED;
						led_color_2 = LED_RED;
						led_color_3 = LED_RED;
						led_color_4 = LED_RED;
						led_color_5 = LED_RED;
						led_color_6 = LED_RED;
						led_blink = LED_NOBLINK;

					} else {
						/* armed system - initial led pattern */
						led_color_1 = LED_RED;
						led_color_2 = LED_RED;
						led_color_3 = LED_RED;
						led_color_4 = LED_OFF;
						led_color_5 = LED_OFF;
						led_color_6 = LED_OFF;
						led_blink = LED_BLINK;

						/* handle 4th led - flightmode indicator */
						switch((int)vehicle_status_raw.flight_mode) {
							case VEHICLE_FLIGHT_MODE_MANUAL:
								led_color_4 = LED_OFF;
								break;

							case VEHICLE_FLIGHT_MODE_STAB:
								led_color_4 = LED_YELLOW;
								break;

							case VEHICLE_FLIGHT_MODE_HOLD:
								led_color_4 = LED_BLUE;
								break;

							case VEHICLE_FLIGHT_MODE_AUTO:
								led_color_4 = LED_GREEN;
								break;
						}

						if(new_data_vehicle_gps_position || no_data_vehicle_gps_position < 3) {
							/* handling used sat´s */
							if(num_of_used_sats >= 7) {
								led_color_1 = LED_OFF;
								led_color_2 = LED_OFF;
								led_color_3 = LED_OFF;
							} else if(num_of_used_sats == 6) {
								led_color_2 = LED_OFF;
								led_color_3 = LED_OFF;
							} else if(num_of_used_sats == 5) {
								led_color_3 = LED_OFF;
							}

						} else {
							/* no vehicle_gps_position data */
							led_color_1 = LED_WHITE;
							led_color_2 = LED_WHITE;
							led_color_3 = LED_WHITE;

						}

					}
				}
			}
		} else {
			/* LED Pattern for general Error - no vehicle_status can retrieved */
			led_color_1 = LED_WHITE;
			led_color_2 = LED_WHITE;
			led_color_3 = LED_WHITE;
			led_color_4 = LED_WHITE;
			led_color_5 = LED_WHITE;
			led_color_6 = LED_WHITE;
			led_blink = LED_BLINK;

		}

		/*
		printf( "<blinkm> Volt:%8.4f\tArmed:%4u\tMode:%4u\tCells:%4u\tNDVS:%4u\tNDSAT:%4u\tSats:%4u\tFix:%4u\tVisible:%4u\n",
		vehicle_status_raw.voltage_battery,
		vehicle_status_raw.flag_system_armed,
		vehicle_status_raw.flight_mode,
		num_of_cells,
		no_data_vehicle_status,
		no_data_vehicle_gps_position,
		num_of_used_sats,
		vehicle_gps_position_raw.fix_type,
		vehicle_gps_position_raw.satellites_visible);
		*/

		led_thread_runcount=0;
		led_thread_ready = true;
		led_interval = LED_OFFTIME;

		if(detected_cells_runcount < 4){
			detected_cells_runcount++;
		} else {
			detected_cells_blinked = true;
		}

	} else {
		led_thread_runcount++;
	}

	if(systemstate_run == true) {
		/* re-queue ourselves to run again later */
		work_queue(LPWORK, &_work, (worker_t)&BlinkM::led_trampoline, this, led_interval);
	} else {
		stop_script();
		set_rgb(0,0,0);
	}
}

void BlinkM::setLEDColor(int ledcolor) {
	switch (ledcolor) {
		case LED_OFF:	// off
			set_rgb(0,0,0);
			break;
		case LED_RED:	// red
			set_rgb(255,0,0);
			break;
		case LED_YELLOW:	// yellow
			set_rgb(255,70,0);
			break;
		case LED_PURPLE:	// purple
			set_rgb(255,0,255);
			break;
		case LED_GREEN:	// green
			set_rgb(0,255,0);
			break;
		case LED_BLUE:	// blue
			set_rgb(0,0,255);
			break;
		case LED_WHITE:	// white
			set_rgb(255,255,255);
			break;
	}
}

int
BlinkM::set_rgb(uint8_t r, uint8_t g, uint8_t b)
{
	const uint8_t msg[4] = { 'n', r, g, b };

	return transfer(msg, sizeof(msg), nullptr, 0);
}

int
BlinkM::fade_rgb(uint8_t r, uint8_t g, uint8_t b)
{
	const uint8_t msg[4] = { 'c', r, g, b };

	return transfer(msg, sizeof(msg), nullptr, 0);
}

int
BlinkM::fade_hsb(uint8_t h, uint8_t s, uint8_t b)
{
	const uint8_t msg[4] = { 'h', h, s, b };

	return transfer(msg, sizeof(msg), nullptr, 0);
}

int
BlinkM::fade_rgb_random(uint8_t r, uint8_t g, uint8_t b)
{
	const uint8_t msg[4] = { 'C', r, g, b };

	return transfer(msg, sizeof(msg), nullptr, 0);
}

int
BlinkM::fade_hsb_random(uint8_t h, uint8_t s, uint8_t b)
{
	const uint8_t msg[4] = { 'H', h, s, b };

	return transfer(msg, sizeof(msg), nullptr, 0);
}

int
BlinkM::set_fade_speed(uint8_t s)
{
	const uint8_t msg[2] = { 'f', s };

	return transfer(msg, sizeof(msg), nullptr, 0);
}

int
BlinkM::play_script(uint8_t script_id)
{
	const uint8_t msg[4] = { 'p', script_id, 0, 0 };

	return transfer(msg, sizeof(msg), nullptr, 0);
}

int
BlinkM::play_script(const char *script_name)
{
	/* handle HTML colour encoding */
	if (isxdigit(script_name[0]) && (strlen(script_name) == 6)) {
		char code[3];
		uint8_t r, g, b;

		code[2] = '\0';

		code[0] = script_name[1];
		code[1] = script_name[2];
		r = strtol(code, 0, 16);
		code[0] = script_name[3];
		code[1] = script_name[4];
		g = strtol(code, 0, 16);
		code[0] = script_name[5];
		code[1] = script_name[6];
		b = strtol(code, 0, 16);

		stop_script();
		return set_rgb(r, g, b);
	}

	for (unsigned i = 0; script_names[i] != nullptr; i++)
		if (!strcasecmp(script_name, script_names[i]))
			return play_script(i);

	return -1;
}

int
BlinkM::stop_script()
{
	const uint8_t msg[1] = { 'o' };

	return transfer(msg, sizeof(msg), nullptr, 0);
}

int
BlinkM::write_script_line(uint8_t line, uint8_t ticks, uint8_t cmd, uint8_t arg1, uint8_t arg2, uint8_t arg3)
{
	const uint8_t msg[8] = { 'W', 0, line, ticks, cmd, arg1, arg2, arg3 };

	return transfer(msg, sizeof(msg), nullptr, 0);
}

int
BlinkM::read_script_line(uint8_t line, uint8_t &ticks, uint8_t cmd[4])
{
	const uint8_t msg[3] = { 'R', 0, line };
	uint8_t result[5];

	int ret = transfer(msg, sizeof(msg), result, sizeof(result));

	if (ret == OK) {
		ticks = result[0];
		cmd[0] = result[1];
		cmd[1] = result[2];
		cmd[2] = result[3];
		cmd[3] = result[4];
	}

	return ret;
}

int
BlinkM::set_script(uint8_t len, uint8_t repeats)
{
	const uint8_t msg[4] = { 'L', 0, len, repeats };

	return transfer(msg, sizeof(msg), nullptr, 0);
}

int
BlinkM::get_rgb(uint8_t &r, uint8_t &g, uint8_t &b)
{
	const uint8_t msg = 'g';
	uint8_t result[3];

	int ret = transfer(&msg, sizeof(msg), result, sizeof(result));

	if (ret == OK) {
		r = result[0];
		g = result[1];
		b = result[2];
	}

	return ret;
}

int
BlinkM::get_firmware_version(uint8_t version[2])
{
	const uint8_t msg = 'Z';

	return transfer(&msg, sizeof(msg), version, sizeof(version));
}

int
blinkm_main(int argc, char *argv[])
{
	if (!strcmp(argv[1], "start")) {
		if (g_blinkm != nullptr)
			errx(1, "already started");

		g_blinkm = new BlinkM(3);

		if (g_blinkm == nullptr)
			errx(1, "new failed");

		if (OK != g_blinkm->init()) {
			delete g_blinkm;
			g_blinkm = nullptr;
			errx(1, "init failed");
		}

		exit(0);
	}


	if (g_blinkm == nullptr)
		errx(1, "not started");

	if (!strcmp(argv[1], "systemstate")) {
		g_blinkm->setMode(1);
		exit(0);
	}

	if (!strcmp(argv[1], "ledoff")) {
		g_blinkm->setMode(0);
		exit(0);
	}


	if (!strcmp(argv[1], "list")) {
		for (unsigned i = 0; BlinkM::script_names[i] != nullptr; i++)
			fprintf(stderr, "    %s\n", BlinkM::script_names[i]);
		fprintf(stderr, "    <html color number>\n");
		exit(0);
	}

	/* things that require access to the device */
	int fd = open(BLINKM_DEVICE_PATH, 0);
	if (fd < 0)
		err(1, "can't open BlinkM device");

	g_blinkm->setMode(0);
	if (ioctl(fd, BLINKM_PLAY_SCRIPT_NAMED, (unsigned long)argv[1]) == OK)
		exit(0);

	errx(1, "missing command, try 'start', 'systemstate', 'ledoff', 'list' or a script name.");
}