status_display.h
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/****************************************************************************
*
* Copyright (c) 2017-2018 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.
*
****************************************************************************/
/**
* @file status_display.h
* Status Display decouples LED and tunes from commander
*
* @author Simone Guscetti <simone@px4.io>
*/
#pragma once
#include <drivers/drv_hrt.h>
#include <uORB/Publication.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/cpuload.h>
#include <uORB/topics/led_control.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/vehicle_status_flags.h>
namespace events
{
namespace status
{
class StatusDisplay
{
public:
StatusDisplay();
/** regularily called to handle state updates */
void process();
protected:
/**
* check for topic updates
* @return true if one or more topics got updated
*/
bool check_for_updates();
/**
* handle LED logic changes & call publish()
*/
void set_leds();
/** publish LED control */
void publish();
// TODO: review if there is a better variant that allocates this in the memory
uORB::SubscriptionData<battery_status_s> _battery_status_sub{ORB_ID(battery_status)};
uORB::SubscriptionData<cpuload_s> _cpu_load_sub{ORB_ID(cpuload)};
uORB::SubscriptionData<vehicle_status_s> _vehicle_status_sub{ORB_ID(vehicle_status)};
uORB::SubscriptionData<vehicle_status_flags_s> _vehicle_status_flags_sub{ORB_ID(vehicle_status_flags)};
uORB::SubscriptionData<vehicle_attitude_s> _vehicle_attitude_sub{ORB_ID(vehicle_attitude)};
struct led_control_s _led_control = {};
private:
bool _old_gps_lock_valid = false;
bool _old_home_position_valid = false;
bool _low_battery = false;
bool _critical_battery = false;
int _old_nav_state = -1;
int _old_battery_status_warning = -1;
uORB::Publication<led_control_s> _led_control_pub{ORB_ID(led_control)};
};
} /* namespace status */
} /* namespace events */