PX4-Autopilot/src/drivers/lights/neopixel/neopixel.cpp

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/**
 * @file neopixel.cpp
 *
 * Driver for the the neopixel class of RGB LED drivers.
 * this driver is based the PX4 led driver
 *
 */

#include <string.h>
#include <px4_platform_common/px4_config.h>

#include <lib/led/led.h>
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <px4_platform_common/log.h>
#include <px4_platform_common/module.h>
#include <drivers/drv_neopixel.h>

class NEOPIXEL : public px4::ScheduledWorkItem,  public ModuleBase
{
public:
	static Descriptor desc;

	NEOPIXEL(unsigned int number_of_packages);
	virtual ~NEOPIXEL();

	/** @see ModuleBase */
	static int task_spawn(int argc, char *argv[]);

	/** @see ModuleBase */
	static int custom_command(int argc, char *argv[]);

	/** @see ModuleBase */
	static int print_usage(const char *reason = nullptr);

	void Run() override;

	/** @see ModuleBase::print_status() */
	int print_status() override;


	int			init();
	int			status();

private:
	unsigned int _number_of_packages{BOARD_HAS_N_S_RGB_LED};

	LedController		_led_controller;

	NEOPIXEL(const NEOPIXEL &) = delete;
	NEOPIXEL operator=(const NEOPIXEL &) = delete;

	neopixel::NeoLEDData *_leds;
};

ModuleBase::Descriptor NEOPIXEL::desc{task_spawn, custom_command, print_usage};

NEOPIXEL::NEOPIXEL(unsigned int number_of_packages) :
	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::lp_default),
	_number_of_packages(number_of_packages)
{
}

NEOPIXEL::~NEOPIXEL()
{
	neopixel_deinit();
}

int NEOPIXEL::init()
{
	_leds = new neopixel::NeoLEDData [_number_of_packages];

	if (_leds == nullptr) {
		return PX4_ERROR;
	}

	neopixel_init(_leds, _number_of_packages);
	neopixel_write(_leds, _number_of_packages);
	ScheduleNow();
	return OK;
}

int NEOPIXEL::task_spawn(int argc, char *argv[])
{
	int myoptind = 1;
	int ch;
	const char *myoptarg = nullptr;
	unsigned int number_of_packages = BOARD_HAS_N_S_RGB_LED;

	while ((ch = px4_getopt(argc, argv, "n:", &myoptind, &myoptarg)) != EOF) {
		switch (ch) {
		case 'n':
			number_of_packages = atoi(myoptarg);
			break;

		default:
			print_usage("unrecognized option");
			return 1;
		}
	}

	NEOPIXEL *instance = new NEOPIXEL(number_of_packages);

	if (instance) {
		desc.object.store(instance);
		desc.task_id = task_id_is_work_queue;

		if (instance->init() == PX4_OK) {
			return PX4_OK;
		}

	} else {
		PX4_ERR("alloc failed");
	}

	delete instance;
	desc.object.store(nullptr);
	desc.task_id = -1;
	return PX4_ERROR;
}

int NEOPIXEL::print_status()
{

	PX4_INFO("Controlling %i LEDs", _number_of_packages);

	return 0;
}

int NEOPIXEL::print_usage(const char *reason)
{
	if (reason) {
		PX4_WARN("%s\n", reason);
	}

	PRINT_MODULE_DESCRIPTION(
		R"DESCR_STR(
### Description
This module is responsible for driving interfasing to the Neopixel Serial LED

### Examples
It is typically started with:
$ neopixel -n 8
To drive all available leds.
)DESCR_STR");

PRINT_MODULE_USAGE_NAME("newpixel", "driver");
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
return 0;
}

int NEOPIXEL::custom_command(int argc, char *argv[])
{
   return print_usage("unrecognized option");
}

/**
 * Main loop function
 */
void NEOPIXEL::Run()
{
  if (should_exit()) {
      ScheduleClear();
      exit_and_cleanup(desc);
      return;
    }

	LedControlData led_control_data;

	if (_led_controller.update(led_control_data) == 1) {

	    for (unsigned int led = 0; led < math::min(_number_of_packages, arraySize(led_control_data.leds)); led++) {

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

        switch (led_control_data.leds[led].color) {
          case led_control_s::COLOR_RED:
            _leds[led].R() = brightness; _leds[led].G() = 0; _leds[led].B() = 0;
            break;

          case led_control_s::COLOR_GREEN:
            _leds[led].R() = 0; _leds[led].G() = brightness; _leds[led].B() = 0;
            break;

          case led_control_s::COLOR_BLUE:
            _leds[led].R() = 0; _leds[led].G() = 0; _leds[led].B() = brightness;
            break;

          case led_control_s::COLOR_AMBER: //make it the same as yellow
          case led_control_s::COLOR_YELLOW:
            _leds[led].R() = brightness; _leds[led].G() = brightness; _leds[led].B() = 0;
            break;

          case led_control_s::COLOR_PURPLE:
            _leds[led].R() = brightness; _leds[led].G() = 0; _leds[led].B() = brightness;
            break;

          case led_control_s::COLOR_CYAN:
            _leds[led].R() = 0; _leds[led].G() = brightness; _leds[led].B() = brightness;
            break;

          case led_control_s::COLOR_WHITE:
            _leds[led].R() = brightness; _leds[led].G() = brightness; _leds[led].B() = brightness;
            break;

          default: // led_control_s::COLOR_OFF
            _leds[led].R() = 0; _leds[led].G() = 0; _leds[led].B() = 0;
            break;
        }
	    }
      neopixel_write(_leds, _number_of_packages);
	}

	/* re-queue ourselves to run again later */
	ScheduleDelayed(_led_controller.maximum_update_interval());
}

extern "C" __EXPORT int neopixel_main(int argc, char *argv[])
{
  return ModuleBase::main(NEOPIXEL::desc, argc, argv);
}