mirror of
https://github.com/PX4/PX4-Autopilot.git
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uavcannode:Add Indication Controller
This commit is contained in:
David Sidrane
committed by
Daniel Agar
Daniel Agar
parent
d1dfa26903
commit
525361cbc7
@@ -122,6 +122,7 @@ px4_add_module(
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SRCS
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allocator.hpp
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uavcan_driver.hpp
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indication_controller.cpp
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UavcanNode.cpp
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UavcanNode.hpp
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DEPENDS
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@@ -32,6 +32,7 @@
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****************************************************************************/
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#include "UavcanNode.hpp"
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#include "indication_controller.hpp"
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#include "boot_app_shared.h"
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@@ -290,6 +291,8 @@ void UavcanNode::Run()
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get_node().setRestartRequestHandler(&restart_request_handler);
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init_indication_controller(get_node());
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// Set up the time synchronization
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const int slave_init_res = _time_sync_slave.start();
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@@ -0,0 +1,127 @@
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/****************************************************************************
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*
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* Copyright (C) 2014 PX4 Development Team. All rights reserved.
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* Author: Pavel Kirienko <pavel.kirienko@gmail.com>
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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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#include <px4_platform_common/px4_config.h>
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#include <uavcan_stm32/uavcan_stm32.hpp>
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#include "indication_controller.hpp"
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#include <uavcan/equipment/indication/LightsCommand.hpp>
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#include <uORB/Publication.hpp>
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#include <uORB/topics/led_control.h>
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namespace
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{
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unsigned self_light_index = 0;
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void cb_light_command(const uavcan::ReceivedDataStructure<uavcan::equipment::indication::LightsCommand> &msg)
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{
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uavcan::uint32_t red = 0;
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uavcan::uint32_t green = 0;
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uavcan::uint32_t blue = 0;
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for (auto &cmd : msg.commands) {
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if (cmd.light_id == self_light_index) {
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using uavcan::equipment::indication::RGB565;
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red = uavcan::uint32_t(float(cmd.color.red) *
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(255.0F / float(RGB565::FieldTypes::red::max())) + 0.5F);
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green = uavcan::uint32_t(float(cmd.color.green) *
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(255.0F / float(RGB565::FieldTypes::green::max())) + 0.5F);
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blue = uavcan::uint32_t(float(cmd.color.blue) *
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(255.0F / float(RGB565::FieldTypes::blue::max())) + 0.5F);
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red = uavcan::min<uavcan::uint32_t>(red, 0xFFU);
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green = uavcan::min<uavcan::uint32_t>(green, 0xFFU);
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blue = uavcan::min<uavcan::uint32_t>(blue, 0xFFU);
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led_control_s led_control;
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led_control.num_blinks = 0;
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led_control.priority = led_control_s::MAX_PRIORITY;
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led_control.mode = led_control_s::MODE_OFF;
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led_control.led_mask = 0xff;
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led_control.color = led_control_s::COLOR_OFF;
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if (red != 0 && blue == 0 && green == 0) {
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led_control.color = led_control_s::COLOR_RED;
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} else if (red == 0 && blue != 0 && green == 0) {
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led_control.color = led_control_s::COLOR_BLUE;
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} else if (red == 0 && blue == 0 && green != 0) {
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led_control.color = led_control_s::COLOR_GREEN;
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} else if (red != 0 && blue == 0 && green != 0) {
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led_control.color = led_control_s::COLOR_YELLOW;
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} else if (red != 0 && blue != 0 && green == 0) {
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led_control.color = led_control_s::COLOR_PURPLE;
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} else if (red != 0 && blue == 0 && green != 0 && red > green) {
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led_control.color = led_control_s::COLOR_AMBER;
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} else if (red == 0 && blue != 0 && green != 0) {
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led_control.color = led_control_s::COLOR_CYAN;
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} else if (red != 0 && blue != 0 && green != 0) {
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led_control.color = led_control_s::COLOR_WHITE;
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}
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if (led_control.color != led_control_s::COLOR_OFF) {
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led_control.mode = led_control_s::MODE_ON;
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}
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led_control.timestamp = hrt_absolute_time();
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uORB::Publication<led_control_s> led_control_pub{ORB_ID(led_control)};
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led_control_pub.publish(led_control);
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}
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}
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}
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}
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int init_indication_controller(uavcan::INode &node)
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{
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static uavcan::Subscriber<uavcan::equipment::indication::LightsCommand> sub_light(node);
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self_light_index = 0;
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int res = 0;
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res = sub_light.start(cb_light_command);
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if (res != 0) {
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return res;
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}
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return 0;
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}
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@@ -0,0 +1,38 @@
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/****************************************************************************
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*
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* Copyright (C) 2014 PX4 Development Team. All rights reserved.
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* Author: Pavel Kirienko <pavel.kirienko@gmail.com>
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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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#pragma once
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int init_indication_controller(uavcan::INode &node);
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