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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Beat Küng
102 lines
3.2 KiB
C++
102 lines
3.2 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 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/Publication.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_status.h>
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#include <uORB/topics/failsafe_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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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<failsafe_flags_s> _failsafe_flags_sub{ORB_ID(failsafe_flags)};
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led_control_s _led_control{};
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private:
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uORB::Publication<led_control_s> _led_control_pub{ORB_ID(led_control)};
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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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};
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} /* namespace status */
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} /* namespace events */
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