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https://gitee.com/xiaohuolufeihua/bizhang_-obav.git
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lib/led: add led class with led_control uorb topic
This is the new interface to control external LED's (user-facing). Features: - Supports maximum N Leds (where the board can define N) - on/off/blink M times - Different priorities - Allows setting a single led or multiple at once
This commit is contained in:
Beat Küng
Lorenz Meier
@@ -67,6 +67,7 @@ set(msg_file_names
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hil_sensor.msg
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home_position.msg
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input_rc.msg
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led_control.msg
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log_message.msg
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manual_control_setpoint.msg
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mavlink_log.msg
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32
msg/led_control.msg
Normal file
32
msg/led_control.msg
Normal file
@@ -0,0 +1,32 @@
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# LED control: control a single or multiple LED's.
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# These are the externally visible LED's, not the board LED's
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# colors
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uint8 COLOR_OFF = 0 # this is only used in the drivers
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uint8 COLOR_RED = 1
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uint8 COLOR_GREEN = 2
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uint8 COLOR_BLUE = 3
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uint8 COLOR_YELLOW = 4
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uint8 COLOR_PURPLE = 5
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uint8 COLOR_AMBER = 6
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uint8 COLOR_CYAN = 7
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uint8 COLOR_WHITE = 8
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# LED modes definitions
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uint8 MODE_OFF = 0 # turn LED off
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uint8 MODE_ON = 1 # turn LED on
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uint8 MODE_DISABLED = 2 # disable this priority (switch to lower priority setting)
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uint8 MODE_BLINK_SLOW = 3
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uint8 MODE_BLINK_NORMAL = 4
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uint8 MODE_BLINK_FAST = 5
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# uint8 MODE_BREATHE = 6 # not implemented (yet)
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uint8 MAX_PRIORITY = 2 # maxium priority (minimum is 0)
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uint8 led_mask # bitmask which LED(s) to control, set to 0xff for all
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uint8 color # see COLOR_*
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uint8 mode # see MODE_*
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uint8 num_blinks # how many times to blink (number of on-off cycles if mode is one of MODE_BLINK_*). Set to 0 for infinite
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uint8 priority # priority: higher priority events will override current lower priority events (see MAX_PRIORITY)
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61
src/drivers/drv_led.h
Normal file
61
src/drivers/drv_led.h
Normal file
@@ -0,0 +1,61 @@
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/****************************************************************************
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*
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* Copyright (C) 2012-2017 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
|
||||
* 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 drv_led.h
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*
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* Led device API to control the external LED(s) via uORB interface
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*/
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#pragma once
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#include <uORB/topics/led_control.h>
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#include <board_config.h>
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// allow the board to override the number (or maxiumum number) of LED's it has
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#ifndef BOARD_MAX_LEDS
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#define BOARD_MAX_LEDS 4
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#endif
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#if BOARD_MAX_LEDS > 8 // because led_mask is uint8_t
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#error "BOARD_MAX_LEDS too large. You need to change the led_mask type in the led_control uorb topic (and where it's used)"
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#endif
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// set the queue size to the number of LED's, so that each led can be controlled individually
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static const int LED_UORB_QUEUE_LENGTH = BOARD_MAX_LEDS;
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#define RGBLED0_DEVICE_PATH "/dev/rgbled0"
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40
src/lib/led/CMakeLists.txt
Normal file
40
src/lib/led/CMakeLists.txt
Normal file
@@ -0,0 +1,40 @@
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############################################################################
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#
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# Copyright (c) 2017 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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px4_add_module(
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MODULE lib__led
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SRCS
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led.cpp
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DEPENDS
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platforms__common
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)
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# vim: set noet ft=cmake fenc=utf-8 ff=unix :
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199
src/lib/led/led.cpp
Normal file
199
src/lib/led/led.cpp
Normal file
@@ -0,0 +1,199 @@
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/****************************************************************************
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*
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* Copyright (c) 2017 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
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* 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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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* 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 led.cpp
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*/
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#include "led.h"
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int LedController::init(int led_control_sub)
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{
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_led_control_sub = led_control_sub;
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_last_update_call = hrt_absolute_time();
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return 0;
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}
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int LedController::update(LedControlData &control_data)
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{
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bool updated = false;
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orb_check(_led_control_sub, &updated);
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while (updated) {
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// handle new state
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led_control_s led_control;
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orb_copy(ORB_ID(led_control), _led_control_sub, &led_control);
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// don't apply the new state just yet to avoid interrupting an ongoing blinking state
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for (int i = 0; i < BOARD_MAX_LEDS; ++i) {
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if (led_control.led_mask & (1 << i)) {
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_states[i].next_state.set(led_control);
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}
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}
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orb_check(_led_control_sub, &updated);
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}
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bool had_changes = false; // did one of the outputs change?
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// handle state updates
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hrt_abstime now = hrt_absolute_time();
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uint16_t blink_delta_t = (uint16_t)((now - _last_update_call) / 100);
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for (int i = 0; i < BOARD_MAX_LEDS; ++i) {
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bool do_not_change_state = false;
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int priority = led_control_s::MAX_PRIORITY;
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for (; priority >= 0; --priority) {
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PerPriorityData &cur_data = _states[i].priority[priority];
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if (cur_data.mode == led_control_s::MODE_DISABLED) {
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continue; // handle next priority
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}
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// handle state updates
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uint16_t current_blink_duration = 0;
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switch (cur_data.mode) {
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case led_control_s::MODE_BLINK_FAST:
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current_blink_duration = BLINK_FAST_DURATION / 100;
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break;
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case led_control_s::MODE_BLINK_NORMAL:
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current_blink_duration = BLINK_NORMAL_DURATION / 100;
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break;
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case led_control_s::MODE_BLINK_SLOW:
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current_blink_duration = BLINK_SLOW_DURATION / 100;
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break;
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}
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if (current_blink_duration > 0) {
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if ((_states[i].current_blinking_time += blink_delta_t) > current_blink_duration) {
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_states[i].current_blinking_time -= current_blink_duration;
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if (cur_data.blink_times_left == 254) {
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// handle toggling for infinite case
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cur_data.blink_times_left = 255;
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do_not_change_state = true;
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} else if (cur_data.blink_times_left == 255) {
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cur_data.blink_times_left = 254;
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} else if (--cur_data.blink_times_left == 0) { //TODO: 1 to ignore last off duration?
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cur_data.mode = led_control_s::MODE_DISABLED;
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_states[i].current_blinking_time = 0;
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} else if (cur_data.blink_times_left % 2 == 1) {
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do_not_change_state = true;
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}
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had_changes = true;
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} else {
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do_not_change_state = true;
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}
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}
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break; // handle next led
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}
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// handle next state
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if (!do_not_change_state && _states[i].next_state.is_valid()) {
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uint8_t next_priority = _states[i].next_state.priority;
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if ((int)next_priority >= priority) {
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_states[i].current_blinking_time = 0;
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had_changes = true;
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}
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_states[i].priority[next_priority].color = _states[i].next_state.color;
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_states[i].priority[next_priority].mode = _states[i].next_state.mode;
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_states[i].priority[next_priority].blink_times_left = _states[i].next_state.num_blinks * 2;
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if (_states[i].priority[next_priority].blink_times_left == 0) {
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// handle infinite case
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_states[i].priority[next_priority].blink_times_left = 254;
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}
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_states[i].next_state.reset();
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}
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}
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_last_update_call = now;
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if (!had_changes) {
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return 0;
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}
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// create output
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get_control_data(control_data);
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return 1;
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}
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void LedController::get_control_data(LedControlData &control_data)
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{
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for (int i = 0; i < BOARD_MAX_LEDS; ++i) {
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control_data.leds[i].color = led_control_s::COLOR_OFF; // set output to a defined state
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for (int priority = led_control_s::MAX_PRIORITY; priority >= 0; --priority) {
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const PerPriorityData &cur_data = _states[i].priority[priority];
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if (cur_data.mode == led_control_s::MODE_DISABLED) {
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continue; // handle next priority
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}
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switch (cur_data.mode) {
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case led_control_s::MODE_ON:
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control_data.leds[i].color = cur_data.color;
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break;
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case led_control_s::MODE_BLINK_FAST:
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case led_control_s::MODE_BLINK_NORMAL:
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case led_control_s::MODE_BLINK_SLOW:
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if (cur_data.blink_times_left % 2 == 0) {
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control_data.leds[i].color = cur_data.color;
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}
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break;
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// MODE_OFF does not need to be handled, it's already set above
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}
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break; // handle next led
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}
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}
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}
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147
src/lib/led/led.h
Normal file
147
src/lib/led/led.h
Normal file
@@ -0,0 +1,147 @@
|
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/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2017 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
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/**
|
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* @file led.h
|
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*
|
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* Led controller helper class, used by Led drivers
|
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*
|
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* @author Beat Küng <beat-kueng@gmx.net>
|
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*/
|
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#pragma once
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#include <drivers/drv_hrt.h>
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#include <drivers/drv_led.h>
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struct LedControlDataSingle {
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uint8_t color;
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};
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struct LedControlData {
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LedControlDataSingle leds[BOARD_MAX_LEDS];
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};
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/**
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** class LedController
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* Handles the led_control topic: blinking, priorities and state updates.
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*/
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class LedController
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{
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public:
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LedController() = default;
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~LedController() = default;
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|
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/**
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* initialize. Call this once before using the object
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* @param led_control_sub uorb subscription for led_control
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* @return 0 on success, <0 on error otherwise
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*/
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int init(int led_control_sub);
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/**
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* check if already initialized
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*/
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bool is_init() const { return _led_control_sub >= 0; }
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/**
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* get maxium time between two consecutive calls to update() in us.
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*/
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int maximum_update_interval() const
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{
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return BLINK_FAST_DURATION;
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}
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|
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/**
|
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* Update and retrieve the Led state. It will do the orb_copy() and needs to be called at least every
|
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* maximum_update_interval(). In addition a caller might poll on the led_control_sub
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* @param control_data output structure (will always be set)
|
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* @return 1 if control_data set (state changed), 0 if control_data not changed (state did not change), <0 error otherwise
|
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*/
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int update(LedControlData &control_data);
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static const int BLINK_FAST_DURATION = 100 *
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1000; ///< duration of half a blinking cycle (on-to-off and off-to-on) in us
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static const int BLINK_NORMAL_DURATION = 500 *
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1000; ///< duration of half a blinking cycle (on-to-off and off-to-on) in us
|
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static const int BLINK_SLOW_DURATION = 2000 *
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1000; ///< duration of half a blinking cycle (on-to-off and off-to-on) in us
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int led_control_subscription() const { return _led_control_sub; }
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private:
|
||||
|
||||
/** set control_data based on current Led states */
|
||||
inline void get_control_data(LedControlData &control_data);
|
||||
|
||||
struct PerPriorityData {
|
||||
uint8_t color = 0; ///< one of led_control_s::COLOR_*
|
||||
uint8_t mode = led_control_s::MODE_DISABLED; ///< one of led_control_s::MODE_*
|
||||
uint8_t blink_times_left = 0; ///< how many times left to blink (MSB bit is used for infinite case).
|
||||
/// This limits the number of complete blink cycles to 64 (if not infinite)
|
||||
};
|
||||
|
||||
struct NextState {
|
||||
uint8_t color;
|
||||
uint8_t mode;
|
||||
uint8_t num_blinks;
|
||||
uint8_t priority = led_control_s::MAX_PRIORITY + 1;
|
||||
|
||||
void set(const led_control_s &led_control)
|
||||
{
|
||||
color = led_control.color;
|
||||
mode = led_control.mode;
|
||||
num_blinks = led_control.num_blinks;
|
||||
priority = led_control.priority;
|
||||
|
||||
if (priority > led_control_s::MAX_PRIORITY) {
|
||||
priority = led_control_s::MAX_PRIORITY;
|
||||
}
|
||||
}
|
||||
void reset() { priority = led_control_s::MAX_PRIORITY + 1; }
|
||||
bool is_valid() const { return priority != led_control_s::MAX_PRIORITY + 1; }
|
||||
};
|
||||
|
||||
struct PerLedData {
|
||||
PerPriorityData priority[led_control_s::MAX_PRIORITY + 1];
|
||||
uint16_t current_blinking_time = 0; ///< how long the Led was in current state (in 0.1 ms)
|
||||
NextState next_state;
|
||||
};
|
||||
|
||||
PerLedData _states[BOARD_MAX_LEDS]; ///< keep current LED states
|
||||
|
||||
int _led_control_sub = -1; ///< uorb subscription
|
||||
hrt_abstime _last_update_call;
|
||||
};
|
||||
|
||||
Reference in New Issue
Block a user