PX4-Autopilot/src/lib/led/led.cpp

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/**
 * @file led.cpp
 */


#include "led.h"

int LedController::init(int led_control_sub)
{
	_led_control_sub = led_control_sub;
	_last_update_call = hrt_absolute_time();
	return 0;
}

int LedController::update(LedControlData &control_data)
{
	bool updated = false;

	orb_check(_led_control_sub, &updated);

	while (updated || _force_update) {
		// handle new state
		led_control_s led_control;

		if (orb_copy(ORB_ID(led_control), _led_control_sub, &led_control) == 0) {

			// don't apply the new state just yet to avoid interrupting an ongoing blinking state
			for (int i = 0; i < BOARD_MAX_LEDS; ++i) {
				if (led_control.led_mask & (1 << i)) {
					_states[i].next_state.set(led_control);
				}
			}
		}

		_force_update = false;

		orb_check(_led_control_sub, &updated);
	}

	bool had_changes = false; // did one of the outputs change?

	// handle state updates
	hrt_abstime now = hrt_absolute_time();
	uint16_t blink_delta_t = (uint16_t)((now - _last_update_call) / 100); // Note: this is in 0.1ms

	for (int i = 0; i < BOARD_MAX_LEDS; ++i) {
		bool do_not_change_state = false;
		int priority = led_control_s::MAX_PRIORITY;

		for (; priority >= 0; --priority) {

			PerPriorityData &cur_data = _states[i].priority[priority];

			if (cur_data.mode == led_control_s::MODE_DISABLED) {
				continue; // handle next priority
			}

			// handle state updates
			uint16_t current_blink_duration = 0;

			switch (cur_data.mode) {
			case led_control_s::MODE_BLINK_FAST:
				current_blink_duration = BLINK_FAST_DURATION / 100;
				break;

			case led_control_s::MODE_BLINK_NORMAL:
				current_blink_duration = BLINK_NORMAL_DURATION / 100;
				break;

			case led_control_s::MODE_BLINK_SLOW:
				current_blink_duration = BLINK_SLOW_DURATION / 100;
				break;
			}

			if (current_blink_duration > 0) {
				if ((_states[i].current_blinking_time += blink_delta_t) > current_blink_duration) {
					_states[i].current_blinking_time -= current_blink_duration;

					if (cur_data.blink_times_left == 254) {
						// handle toggling for infinite case: toggle between 254 and 255
						cur_data.blink_times_left = 255;
						do_not_change_state = true;

					} else if (cur_data.blink_times_left == 255) {
						cur_data.blink_times_left = 254;

					} else if (--cur_data.blink_times_left == 0) { //TODO: 1 to ignore last off duration?
						cur_data.mode = led_control_s::MODE_DISABLED;
						_states[i].current_blinking_time = 0;

					} else if (cur_data.blink_times_left % 2 == 1) {
						do_not_change_state = true;
					}

					had_changes = true;

				} else {
					do_not_change_state = true;
				}
			}

			break; // handle next led
		}

		// handle next state
		if (!do_not_change_state && _states[i].next_state.is_valid()) {
			uint8_t next_priority = _states[i].next_state.priority;

			if ((int)next_priority >= priority) {
				_states[i].current_blinking_time = 0;
				had_changes = true;
			}

			_states[i].priority[next_priority].color = _states[i].next_state.color;
			_states[i].priority[next_priority].mode = _states[i].next_state.mode;
			_states[i].priority[next_priority].blink_times_left = _states[i].next_state.num_blinks * 2;

			if (_states[i].priority[next_priority].blink_times_left == 0) {
				// handle infinite case
				_states[i].priority[next_priority].blink_times_left = 254;
			}

			_states[i].next_state.reset();
		}
	}

	_last_update_call = now;

	if (!had_changes) {
		return 0;
	}

	// create output
	get_control_data(control_data);

	return 1;
}

void LedController::get_control_data(LedControlData &control_data)
{
	for (int i = 0; i < BOARD_MAX_LEDS; ++i) {
		control_data.leds[i].color = led_control_s::COLOR_OFF; // set output to a defined state

		for (int priority = led_control_s::MAX_PRIORITY; priority >= 0; --priority) {
			const PerPriorityData &cur_data = _states[i].priority[priority];

			if (cur_data.mode == led_control_s::MODE_DISABLED) {
				continue; // handle next priority
			}

			switch (cur_data.mode) {
			case led_control_s::MODE_ON:
			case led_control_s::MODE_BREATHE: // TODO: handle this properly
				control_data.leds[i].color = cur_data.color;
				break;

			case led_control_s::MODE_BLINK_FAST:
			case led_control_s::MODE_BLINK_NORMAL:
			case led_control_s::MODE_BLINK_SLOW:
				if (cur_data.blink_times_left % 2 == 0) {
					control_data.leds[i].color = cur_data.color;
				}

				break;
				// MODE_OFF does not need to be handled, it's already set above
			}

			break; // handle next led
		}
	}
}