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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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134 lines
4.6 KiB
C++
134 lines
4.6 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2017-2021 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file set_leds.cpp
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* Separate the set_leds() function
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*
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* @author Christoph Tobler <christoph@px4.io>
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*/
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#include "status_display.h"
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#include <board_config.h>
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#include <px4_log.h>
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#include <matrix/math.hpp>
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#include <drivers/drv_led.h>
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using namespace time_literals;
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namespace events
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{
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namespace status
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{
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void StatusDisplay::set_leds()
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{
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bool gps_lock_valid = !_failsafe_flags_sub.get().global_position_invalid;
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bool home_position_valid = !_failsafe_flags_sub.get().home_position_invalid;
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int nav_state = _vehicle_status_sub.get().nav_state;
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#if defined(BOARD_FRONT_LED_MASK)
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// try to publish the static LED for the first 10s
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// this avoid the problem if a LED driver did not subscribe to the topic yet
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if (hrt_absolute_time() < 10_s) {
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// set the base color for front LED
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_led_control.led_mask = BOARD_FRONT_LED_MASK;
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_led_control.color = led_control_s::COLOR_WHITE;
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_led_control.mode = led_control_s::MODE_ON;
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publish();
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}
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#endif // BOARD_FRONT_LED_MASK
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#if defined(BOARD_REAR_LED_MASK)
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// set the led mask for the status led which are the back LED
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_led_control.led_mask = BOARD_REAR_LED_MASK;
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if (nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_RTL
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|| nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_LAND) {
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_led_control.color = led_control_s::COLOR_PURPLE;
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} else if (nav_state == vehicle_status_s::NAVIGATION_STATE_ALTCTL) {
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_led_control.color = led_control_s::COLOR_BLUE;
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} else if (nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION) {
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_led_control.color = led_control_s::COLOR_GREEN;
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} else {
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_led_control.color = led_control_s::COLOR_YELLOW; // TODO fix yellow and purple error
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}
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// blink if no GPS and home are set
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if (gps_lock_valid && home_position_valid) {
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_led_control.mode = led_control_s::MODE_ON;
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} else {
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_led_control.mode = led_control_s::MODE_BLINK_NORMAL;
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}
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// handle battery warnings, once a state is reached it can not be reset
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if (_battery_status_sub.get().warning == battery_status_s::BATTERY_WARNING_CRITICAL || _critical_battery) {
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_led_control.color = led_control_s::COLOR_RED;
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_led_control.mode = led_control_s::MODE_BLINK_FAST;
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_critical_battery = true;
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} else if (_battery_status_sub.get().warning == battery_status_s::BATTERY_WARNING_LOW || _low_battery) {
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_led_control.color = led_control_s::COLOR_RED;
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_led_control.mode = led_control_s::MODE_FLASH;
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_low_battery = true;
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}
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if (nav_state != _old_nav_state
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|| gps_lock_valid != _old_gps_lock_valid
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|| home_position_valid != _old_home_position_valid
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|| _battery_status_sub.get().warning != _old_battery_status_warning) {
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publish();
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}
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#endif // BOARD_REAR_LED_MASK
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// copy actual state
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_old_nav_state = nav_state;
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_old_gps_lock_valid = gps_lock_valid;
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_old_home_position_valid = home_position_valid;
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_old_battery_status_warning = _battery_status_sub.get().warning;
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}
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} /* namespace status */
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} /* namespace events */
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