rgbled.hpp
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/****************************************************************************
*
* Copyright (C) 2020 PX4 Development Team. All rights reserved.
*
* 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
#include <uORB/topics/actuator_armed.h>
#include <uavcan/uavcan.hpp>
#include <uavcan/equipment/indication/LightsCommand.hpp>
#include <lib/led/led.h>
#include <px4_platform_common/module_params.h>
class UavcanRGBController : public ModuleParams
{
public:
UavcanRGBController(uavcan::INode &node);
~UavcanRGBController() = default;
// setup periodic updater
int init();
private:
// Max update rate to avoid exessive bus traffic
static constexpr unsigned MAX_RATE_HZ = 20;
void periodic_update(const uavcan::TimerEvent &);
uavcan::equipment::indication::RGB565 brightness_to_rgb565(uint8_t brightness);
typedef uavcan::MethodBinder<UavcanRGBController *, void (UavcanRGBController::*)(const uavcan::TimerEvent &)>
TimerCbBinder;
uavcan::INode &_node;
uavcan::Publisher<uavcan::equipment::indication::LightsCommand> _uavcan_pub_lights_cmd;
uavcan::TimerEventForwarder<TimerCbBinder> _timer;
uORB::Subscription _armed_sub{ORB_ID(actuator_armed)};
LedController _led_controller;
DEFINE_PARAMETERS(
(ParamInt<px4::params::UAVCAN_LGT_ANTCL>) _param_mode_anti_col,
(ParamInt<px4::params::UAVCAN_LGT_STROB>) _param_mode_strobe,
(ParamInt<px4::params::UAVCAN_LGT_NAV>) _param_mode_nav,
(ParamInt<px4::params::UAVCAN_LGT_LAND>) _param_mode_land
)
};