led: add MODE_FLASH

msg/led_control.msg

@@ -20,6 +20,7 @@ uint8 MODE_BLINK_SLOW = 3
 uint8 MODE_BLINK_NORMAL = 4
 uint8 MODE_BLINK_FAST = 5
 uint8 MODE_BREATHE = 6 # continuously increase & decrease brightness (solid color if driver does not support it)
+uint8 MODE_FLASH = 7 # two fast blinks (on/off) with timing as in MODE_BLINK_FAST and then off for a while
 
 uint8 MAX_PRIORITY = 2 # maxium priority (minimum is 0)
 
@@ -27,6 +28,6 @@ uint8 MAX_PRIORITY = 2 # maxium priority (minimum is 0)
 uint8 led_mask # bitmask which LED(s) to control, set to 0xff for all
 uint8 color # see COLOR_*
 uint8 mode # see MODE_*
-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
+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
+                 # in MODE_FLASH it is the number of cycles (infinite is not possible)
 uint8 priority # priority: higher priority events will override current lower priority events (see MAX_PRIORITY)
-

src/lib/led/led.cpp

@@ -60,10 +60,24 @@ int LedController::update(LedControlData &control_data)
 			// don't apply the new state just yet to avoid interrupting an ongoing blinking state
 			for (int i = 0; i < BOARD_MAX_LEDS; ++i) {
 				if (led_control.led_mask & (1 << i)) {
+					// if next state has already a higher priority state than
+					// led_control, set lower prio state directly, so that this
+					// information is not lost
+					if (_states[i].next_state.is_valid() && led_control.priority < _states[i].next_state.priority) {
+						_states[i].set(led_control);
+
+					} else {
+						// if a lower prio event is already in next state and a
+						// higher prio event is coming in
+						if (_states[i].next_state.is_valid() && led_control.priority > _states[i].next_state.priority) {
+							_states[i].apply_next_state();
+						}
+
 						_states[i].next_state.set(led_control);
 					}
 				}
 			}
+		}
 
 		_force_update = false;
 
@@ -96,6 +110,7 @@ int LedController::update(LedControlData &control_data)
 			uint16_t current_blink_duration = 0;
 
 			switch (cur_data.mode) {
+			case led_control_s::MODE_FLASH:
 			case led_control_s::MODE_BLINK_FAST:
 				current_blink_duration = BLINK_FAST_DURATION / 100;
 				break;
@@ -168,15 +183,7 @@ int LedController::update(LedControlData &control_data)
 					had_changes = true;
 				}
 
-				_states[i].priority[next_priority].color = _states[i].next_state.color;
+				_states[i].apply_next_state();
-				_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();
 			}
 
@@ -204,6 +211,7 @@ void LedController::get_control_data(LedControlData &control_data)
 		control_data.leds[i].brightness = 255;
 
 		for (int priority = led_control_s::MAX_PRIORITY; priority >= 0; --priority) {
+			bool flash_output_active = true;
 			const PerPriorityData &cur_data = _states[i].priority[priority];
 
 			if (cur_data.mode == led_control_s::MODE_DISABLED) {
@@ -225,10 +233,16 @@ void LedController::get_control_data(LedControlData &control_data)
 					break;
 				}
 
+			case led_control_s::MODE_FLASH:
+				if (cur_data.blink_times_left % 10 < 6) { // 2 blinks, then turn off for the rest of the cycle
+					flash_output_active = false;
+				}
+
+			/* FALLTHROUGH */
 			case led_control_s::MODE_BLINK_FAST:
 			case led_control_s::MODE_BLINK_NORMAL:
 			case led_control_s::MODE_BLINK_SLOW:
-				if (cur_data.blink_times_left % 2 == 0) {
+				if (cur_data.blink_times_left % 2 == 0 && flash_output_active) {
 					control_data.leds[i].color = cur_data.color;
 				}
 

src/lib/led/led.h

@@ -141,6 +141,47 @@ private:
 		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, wraps if > 6.5s)
 		NextState next_state;
+
+		void set(const led_control_s &led_control)
+		{
+			int next_priority = (int)led_control.priority;
+			priority[next_priority].color = led_control.color;
+			priority[next_priority].mode = led_control.mode;
+
+			// initialise the flash counter
+			if (led_control.mode == led_control_s::MODE_FLASH) {
+				priority[next_priority].blink_times_left = led_control.num_blinks * 10;
+
+			} else {
+				priority[next_priority].blink_times_left = led_control.num_blinks * 2;
+			}
+
+			if (priority[next_priority].blink_times_left == 0) {
+				// handle infinite case
+				priority[next_priority].blink_times_left = 254;
+			}
+
+
+		}
+
+		void apply_next_state()
+		{
+			int next_priority = (int)next_state.priority;
+			priority[next_priority].color = next_state.color;
+			priority[next_priority].mode = next_state.mode;
+
+			if (next_state.mode == led_control_s::MODE_FLASH) {
+				priority[next_priority].blink_times_left = next_state.num_blinks * 10;
+
+			} else {
+				priority[next_priority].blink_times_left = next_state.num_blinks * 2;
+			}
+
+			if (priority[next_priority].blink_times_left == 0) {
+				// handle infinite case
+				priority[next_priority].blink_times_left = 254;
+			}
+		}
 	};
 
 	PerLedData _states[BOARD_MAX_LEDS]; ///< keep current LED states
@@ -150,4 +191,3 @@ private:
 	bool _force_update = true; ///< force an orb_copy in the beginning
 	bool _breathe_enabled = false; ///< true if at least one of the led's is currently in breathe mode
 };
-

src/systemcmds/led_control/led_control.cpp

@@ -82,6 +82,7 @@ $ led_control blink -c blue -l 0 -n 5
 	PRINT_MODULE_USAGE_PARAM_INT('n', 3, 1, 20, "Number of blinks", true);
 	PRINT_MODULE_USAGE_PARAM_STRING('s', "normal", "fast|normal|slow", "Set blinking speed", true);
 	PRINT_MODULE_USAGE_COMMAND_DESCR("breathe", "Continuously fade LED in & out");
+	PRINT_MODULE_USAGE_COMMAND_DESCR("flash", "Two fast blinks and then off with frequency of 1Hz");
 
 	PRINT_MODULE_USAGE_PARAM_COMMENT("The following arguments apply to all of the above commands except for 'test':");
 	PRINT_MODULE_USAGE_PARAM_STRING('c', "white", "red|blue|green|yellow|purple|amber|cyan|white", "color", true);
@@ -259,6 +260,9 @@ led_control_main(int argc, char *argv[])
 	} else if (!strcmp(argv[myoptind], "breathe")) {
 		led_control.mode = led_control_s::MODE_BREATHE;
 
+	} else if (!strcmp(argv[myoptind], "flash")) {
+		led_control.mode = led_control_s::MODE_FLASH;
+
 	} else {
 		usage();
 		return 1;