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led/led: change update logic to keep blinking led's in sync

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Beat Küng
2017-02-24 10:26:04 +01:00
committed by Lorenz Meier
parent 9e09f70f37
commit ce8707532e
1 changed files with 36 additions and 21 deletions
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57
src/lib/led/led.cpp
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@@ -76,8 +76,11 @@ int LedController::update(LedControlData &control_data)
hrt_abstime now = hrt_absolute_time();
uint16_t blink_delta_t = (uint16_t)((now - _last_update_call) / 100); // Note: this is in 0.1ms
int num_blinking_leds = 0;
int num_blinking_do_not_change_state = 0;
int current_priorities[BOARD_MAX_LEDS];
for (int i = 0; i < BOARD_MAX_LEDS; ++i) {
bool do_not_change_state = false;
int priority = led_control_s::MAX_PRIORITY;
for (; priority >= 0; --priority) {
@@ -106,54 +109,66 @@ int LedController::update(LedControlData &control_data)
}
if (current_blink_duration > 0) {
++num_blinking_leds;
if ((_states[i].current_blinking_time += blink_delta_t) > current_blink_duration) {
_states[i].current_blinking_time -= current_blink_duration;
if (cur_data.blink_times_left == 254) {
// handle toggling for infinite case: toggle between 254 and 255
cur_data.blink_times_left = 255;
do_not_change_state = true;
++num_blinking_do_not_change_state;
} else if (cur_data.blink_times_left == 255) {
cur_data.blink_times_left = 254;
} else if (--cur_data.blink_times_left == 0) { //TODO: 1 to ignore last off duration?
} else if (--cur_data.blink_times_left == 0) {
cur_data.mode = led_control_s::MODE_DISABLED;
_states[i].current_blinking_time = 0;
} else if (cur_data.blink_times_left % 2 == 1) {
do_not_change_state = true;
++num_blinking_do_not_change_state;
}
had_changes = true;
} else {
do_not_change_state = true;
++num_blinking_do_not_change_state;
}
}
break; // handle next led
}
// handle next state
if (!do_not_change_state && _states[i].next_state.is_valid()) {
uint8_t next_priority = _states[i].next_state.priority;
current_priorities[i] = priority;
if ((int)next_priority >= priority) {
_states[i].current_blinking_time = 0;
had_changes = true;
}
// handle next state:
// only allow a state change if no led blinks or at least one of the blinking leds signals that it's ok to switch.
// This makes sure all leds are kept in sync, but does not allow interrupting at arbitrary points.
if (num_blinking_leds == 0 || num_blinking_leds > num_blinking_do_not_change_state) {
for (int i = 0; i < BOARD_MAX_LEDS; ++i) {
if (_states[i].next_state.is_valid()) {
int next_priority = (int)_states[i].next_state.priority;
if (next_priority >= current_priorities[i]) {
_states[i].current_blinking_time = 0;
had_changes = true;
}
_states[i].priority[next_priority].color = _states[i].next_state.color;
_states[i].priority[next_priority].mode = _states[i].next_state.mode;
_states[i].priority[next_priority].blink_times_left = _states[i].next_state.num_blinks * 2;
if (_states[i].priority[next_priority].blink_times_left == 0) {
// handle infinite case
_states[i].priority[next_priority].blink_times_left = 254;
}
_states[i].next_state.reset();
}
_states[i].priority[next_priority].color = _states[i].next_state.color;
_states[i].priority[next_priority].mode = _states[i].next_state.mode;
_states[i].priority[next_priority].blink_times_left = _states[i].next_state.num_blinks * 2;
if (_states[i].priority[next_priority].blink_times_left == 0) {
// handle infinite case
_states[i].priority[next_priority].blink_times_left = 254;
}
_states[i].next_state.reset();
}
}