diff --git a/src/drivers/uavcannode/CMakeLists.txt b/src/drivers/uavcannode/CMakeLists.txt index 6e843bf641..6891d84410 100644 --- a/src/drivers/uavcannode/CMakeLists.txt +++ b/src/drivers/uavcannode/CMakeLists.txt @@ -122,6 +122,7 @@ px4_add_module( SRCS allocator.hpp uavcan_driver.hpp + indication_controller.cpp UavcanNode.cpp UavcanNode.hpp DEPENDS diff --git a/src/drivers/uavcannode/UavcanNode.cpp b/src/drivers/uavcannode/UavcanNode.cpp index 4d6001d704..d52e48dec6 100644 --- a/src/drivers/uavcannode/UavcanNode.cpp +++ b/src/drivers/uavcannode/UavcanNode.cpp @@ -32,6 +32,7 @@ ****************************************************************************/ #include "UavcanNode.hpp" +#include "indication_controller.hpp" #include "boot_app_shared.h" @@ -290,6 +291,8 @@ void UavcanNode::Run() get_node().setRestartRequestHandler(&restart_request_handler); + init_indication_controller(get_node()); + // Set up the time synchronization const int slave_init_res = _time_sync_slave.start(); diff --git a/src/drivers/uavcannode/indication_controller.cpp b/src/drivers/uavcannode/indication_controller.cpp new file mode 100644 index 0000000000..1e5e6b81d4 --- /dev/null +++ b/src/drivers/uavcannode/indication_controller.cpp @@ -0,0 +1,127 @@ +/**************************************************************************** + * + * Copyright (C) 2014 PX4 Development Team. All rights reserved. + * Author: Pavel Kirienko + * + * 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. + * + ****************************************************************************/ + +#include +#include +#include "indication_controller.hpp" +#include +#include +#include + +namespace +{ +unsigned self_light_index = 0; + +void cb_light_command(const uavcan::ReceivedDataStructure &msg) +{ + uavcan::uint32_t red = 0; + uavcan::uint32_t green = 0; + uavcan::uint32_t blue = 0; + + for (auto &cmd : msg.commands) { + if (cmd.light_id == self_light_index) { + using uavcan::equipment::indication::RGB565; + + red = uavcan::uint32_t(float(cmd.color.red) * + (255.0F / float(RGB565::FieldTypes::red::max())) + 0.5F); + + green = uavcan::uint32_t(float(cmd.color.green) * + (255.0F / float(RGB565::FieldTypes::green::max())) + 0.5F); + + blue = uavcan::uint32_t(float(cmd.color.blue) * + (255.0F / float(RGB565::FieldTypes::blue::max())) + 0.5F); + + red = uavcan::min(red, 0xFFU); + green = uavcan::min(green, 0xFFU); + blue = uavcan::min(blue, 0xFFU); + + led_control_s led_control; + led_control.num_blinks = 0; + led_control.priority = led_control_s::MAX_PRIORITY; + led_control.mode = led_control_s::MODE_OFF; + led_control.led_mask = 0xff; + led_control.color = led_control_s::COLOR_OFF; + + if (red != 0 && blue == 0 && green == 0) { + led_control.color = led_control_s::COLOR_RED; + + } else if (red == 0 && blue != 0 && green == 0) { + led_control.color = led_control_s::COLOR_BLUE; + + } else if (red == 0 && blue == 0 && green != 0) { + led_control.color = led_control_s::COLOR_GREEN; + + } else if (red != 0 && blue == 0 && green != 0) { + led_control.color = led_control_s::COLOR_YELLOW; + + } else if (red != 0 && blue != 0 && green == 0) { + led_control.color = led_control_s::COLOR_PURPLE; + + } else if (red != 0 && blue == 0 && green != 0 && red > green) { + led_control.color = led_control_s::COLOR_AMBER; + + } else if (red == 0 && blue != 0 && green != 0) { + led_control.color = led_control_s::COLOR_CYAN; + + } else if (red != 0 && blue != 0 && green != 0) { + led_control.color = led_control_s::COLOR_WHITE; + } + + if (led_control.color != led_control_s::COLOR_OFF) { + led_control.mode = led_control_s::MODE_ON; + } + + led_control.timestamp = hrt_absolute_time(); + uORB::Publication led_control_pub{ORB_ID(led_control)}; + led_control_pub.publish(led_control); + } + } +} +} +int init_indication_controller(uavcan::INode &node) +{ + static uavcan::Subscriber sub_light(node); + + self_light_index = 0; + + int res = 0; + + res = sub_light.start(cb_light_command); + + if (res != 0) { + return res; + } + + return 0; +} diff --git a/src/drivers/uavcannode/indication_controller.hpp b/src/drivers/uavcannode/indication_controller.hpp new file mode 100644 index 0000000000..128e5f2830 --- /dev/null +++ b/src/drivers/uavcannode/indication_controller.hpp @@ -0,0 +1,38 @@ +/**************************************************************************** + * + * Copyright (C) 2014 PX4 Development Team. All rights reserved. + * Author: Pavel Kirienko + * + * 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. + * + ****************************************************************************/ + +#pragma once + + +int init_indication_controller(uavcan::INode &node);