LightsCommand.hpp
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/****************************************************************************
*
* Copyright (c) 2021 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 "UavcanSubscriberBase.hpp"
#include <uavcan/equipment/indication/LightsCommand.hpp>
#include <uORB/Publication.hpp>
#include <uORB/topics/led_control.h>
namespace uavcannode
{
class LightsCommand;
typedef uavcan::MethodBinder<LightsCommand *,
void (LightsCommand::*)(const uavcan::ReceivedDataStructure<uavcan::equipment::indication::LightsCommand>&)>
LightscommandBinder;
class LightsCommand :
public UavcanSubscriberBase,
private uavcan::Subscriber<uavcan::equipment::indication::LightsCommand, LightscommandBinder>
{
public:
LightsCommand(uavcan::INode &node) :
UavcanSubscriberBase(uavcan::equipment::indication::LightsCommand::DefaultDataTypeID),
uavcan::Subscriber<uavcan::equipment::indication::LightsCommand, LightscommandBinder>(node)
{}
bool init()
{
if (start(LightscommandBinder(this, &LightsCommand::callback)) < 0) {
PX4_ERR("uavcan::equipment::indication::LightsCommand subscription failed");
return false;
}
return true;
}
void PrintInfo() const override
{
printf("\t%s:%d -> %s\n",
uavcan::equipment::indication::LightsCommand::getDataTypeFullName(),
uavcan::equipment::indication::LightsCommand::DefaultDataTypeID,
_led_control_pub.get_topic()->o_name);
}
private:
void callback(const uavcan::ReceivedDataStructure<uavcan::equipment::indication::LightsCommand> &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<uavcan::uint32_t>(red, 0xFFU);
green = uavcan::min<uavcan::uint32_t>(green, 0xFFU);
blue = uavcan::min<uavcan::uint32_t>(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();
_led_control_pub.publish(led_control);
}
}
}
uORB::Publication<led_control_s> _led_control_pub{ORB_ID(led_control)};
unsigned _self_light_index{0};
};
} // namespace uavcannode