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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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dc05ceaad2
- this is a new module for temperature compensation that consolidates the functionality previously handled in the sensors module (calculating runtime thermal corrections) and the events module (online thermal calibration) - by collecting this functionality into a single module we can optionally disable it on systems where it's not used and save some flash (if disabled at build time) or memory (disabled at run time)
106 lines
3.5 KiB
C++
106 lines
3.5 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2017-2018 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 status_display.h
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* Status Display decouples LED and tunes from commander
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*
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* @author Simone Guscetti <simone@px4.io>
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*/
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#pragma once
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#include <drivers/drv_hrt.h>
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#include <uORB/PublicationQueued.hpp>
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#include <uORB/Subscription.hpp>
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#include <uORB/topics/battery_status.h>
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#include <uORB/topics/cpuload.h>
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#include <uORB/topics/led_control.h>
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#include <uORB/topics/vehicle_attitude.h>
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#include <uORB/topics/vehicle_status.h>
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#include <uORB/topics/vehicle_status_flags.h>
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namespace events
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{
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namespace status
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{
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class StatusDisplay
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{
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public:
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StatusDisplay();
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/** regularily called to handle state updates */
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void process();
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protected:
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/**
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* check for topic updates
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* @return true if one or more topics got updated
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*/
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bool check_for_updates();
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/**
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* handle LED logic changes & call publish()
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*/
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void set_leds();
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/** publish LED control */
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void publish();
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// TODO: review if there is a better variant that allocates this in the memory
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uORB::SubscriptionData<battery_status_s> _battery_status_sub{ORB_ID(battery_status)};
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uORB::SubscriptionData<cpuload_s> _cpu_load_sub{ORB_ID(cpuload)};
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uORB::SubscriptionData<vehicle_status_s> _vehicle_status_sub{ORB_ID(vehicle_status)};
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uORB::SubscriptionData<vehicle_status_flags_s> _vehicle_status_flags_sub{ORB_ID(vehicle_status_flags)};
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uORB::SubscriptionData<vehicle_attitude_s> _vehicle_attitude_sub{ORB_ID(vehicle_attitude)};
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struct led_control_s _led_control = {};
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private:
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bool _old_gps_lock_valid = false;
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bool _old_home_position_valid = false;
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bool _low_battery = false;
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bool _critical_battery = false;
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int _old_nav_state = -1;
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int _old_battery_status_warning = -1;
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uORB::PublicationQueued<led_control_s> _led_control_pub{ORB_ID(led_control)};
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};
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} /* namespace status */
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} /* namespace events */
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