mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-21 13:02:25 +08:00
Julian Oes
79 lines
3.0 KiB
C++
79 lines
3.0 KiB
C++
/****************************************************************************
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*
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* Copyright (C) 2020 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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#pragma once
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#include <uORB/topics/actuator_armed.h>
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#include <uavcan/uavcan.hpp>
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#include <uavcan/equipment/indication/LightsCommand.hpp>
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#include <lib/led/led.h>
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#include <px4_platform_common/module_params.h>
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class UavcanRGBController : public ModuleParams
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{
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public:
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UavcanRGBController(uavcan::INode &node);
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~UavcanRGBController() = default;
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// setup periodic updater
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int init();
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private:
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// Max update rate to avoid excessive bus traffic
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static constexpr unsigned MAX_RATE_HZ = 20;
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void periodic_update(const uavcan::TimerEvent &);
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uavcan::equipment::indication::RGB565 brightness_to_rgb565(uint8_t brightness);
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typedef uavcan::MethodBinder<UavcanRGBController *, void (UavcanRGBController::*)(const uavcan::TimerEvent &)>
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TimerCbBinder;
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uavcan::INode &_node;
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uavcan::Publisher<uavcan::equipment::indication::LightsCommand> _uavcan_pub_lights_cmd;
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uavcan::TimerEventForwarder<TimerCbBinder> _timer;
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uORB::Subscription _armed_sub{ORB_ID(actuator_armed)};
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LedController _led_controller;
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DEFINE_PARAMETERS(
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(ParamInt<px4::params::UAVCAN_LGT_ANTCL>) _param_mode_anti_col,
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(ParamInt<px4::params::UAVCAN_LGT_STROB>) _param_mode_strobe,
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(ParamInt<px4::params::UAVCAN_LGT_NAV>) _param_mode_nav,
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(ParamInt<px4::params::UAVCAN_LGT_LAND>) _param_mode_land
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)
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};
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