/****************************************************************************
*
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
* Author: Thomas Gubler <thomasgubler@student.ethz.ch>
* Julian Oes <joes@student.ethz.ch>
*
* 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 commander_helper.cpp
* Commander helper functions implementations
*/
#include <stdio.h>
#include <unistd.h>
#include <stdint.h>
#include <stdbool.h>
#include <fcntl.h>
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <systemlib/err.h>
#include <systemlib/param/param.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_tone_alarm.h>
#include <drivers/drv_led.h>
#include <drivers/drv_rgbled.h>
#include "commander_helper.h"
/* oddly, ERROR is not defined for c++ */
#ifdef ERROR
# undef ERROR
#endif
static const int ERROR = -1;
bool is_multirotor(const struct vehicle_status_s *current_status)
{
return ((current_status->system_type == VEHICLE_TYPE_QUADROTOR) ||
(current_status->system_type == VEHICLE_TYPE_HEXAROTOR) ||
(current_status->system_type == VEHICLE_TYPE_OCTOROTOR) ||
(current_status->system_type == VEHICLE_TYPE_TRICOPTER));
}
bool is_rotary_wing(const struct vehicle_status_s *current_status)
{
return is_multirotor(current_status) || (current_status->system_type == VEHICLE_TYPE_HELICOPTER)
|| (current_status->system_type == VEHICLE_TYPE_COAXIAL);
}
static int buzzer;
int buzzer_init()
{
buzzer = open(TONEALARM_DEVICE_PATH, O_WRONLY);
if (buzzer < 0) {
warnx("Buzzer: open fail\n");
return ERROR;
}
return OK;
}
void buzzer_deinit()
{
close(buzzer);
}
void tune_error()
{
ioctl(buzzer, TONE_SET_ALARM, TONE_ERROR_TUNE);
}
void tune_positive()
{
ioctl(buzzer, TONE_SET_ALARM, TONE_NOTIFY_POSITIVE_TUNE);
}
void tune_neutral()
{
ioctl(buzzer, TONE_SET_ALARM, TONE_NOTIFY_NEUTRAL_TUNE);
}
void tune_negative()
{
ioctl(buzzer, TONE_SET_ALARM, TONE_NOTIFY_NEGATIVE_TUNE);
}
int tune_arm()
{
return ioctl(buzzer, TONE_SET_ALARM, TONE_ARMING_WARNING_TUNE);
}
int tune_low_bat()
{
return ioctl(buzzer, TONE_SET_ALARM, TONE_BATTERY_WARNING_SLOW_TUNE);
}
int tune_critical_bat()
{
return ioctl(buzzer, TONE_SET_ALARM, TONE_BATTERY_WARNING_FAST_TUNE);
}
void tune_stop()
{
ioctl(buzzer, TONE_SET_ALARM, TONE_STOP_TUNE);
}
static int leds;
static int rgbleds;
int led_init()
{
/* first open normal LEDs */
leds = open(LED_DEVICE_PATH, 0);
if (leds < 0) {
warnx("LED: open fail\n");
return ERROR;
}
/* the blue LED is only available on FMUv1 but not FMUv2 */
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
if (ioctl(leds, LED_ON, LED_BLUE)) {
warnx("Blue LED: ioctl fail\n");
return ERROR;
}
#endif
if (ioctl(leds, LED_ON, LED_AMBER)) {
warnx("Amber LED: ioctl fail\n");
return ERROR;
}
/* then try RGB LEDs, this can fail on FMUv1*/
rgbleds = open(RGBLED_DEVICE_PATH, 0);
if (rgbleds == -1) {
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
errx(1, "Unable to open " RGBLED_DEVICE_PATH);
#else
warnx("No RGB LED found");
#endif
}
return 0;
}
void led_deinit()
{
close(leds);
if (rgbleds != -1) {
close(rgbleds);
}
}
int led_toggle(int led)
{
return ioctl(leds, LED_TOGGLE, led);
}
int led_on(int led)
{
return ioctl(leds, LED_ON, led);
}
int led_off(int led)
{
return ioctl(leds, LED_OFF, led);
}
void rgbled_set_color(rgbled_color_t color) {
if (rgbleds != -1)
ioctl(rgbleds, RGBLED_SET_COLOR, (unsigned long)color);
}
void rgbled_set_mode(rgbled_mode_t mode) {
if (rgbleds != -1)
ioctl(rgbleds, RGBLED_SET_MODE, (unsigned long)mode);
}
void rgbled_set_pattern(rgbled_pattern_t *pattern) {
if (rgbleds != -1)
ioctl(rgbleds, RGBLED_SET_PATTERN, (unsigned long)pattern);
}
float battery_remaining_estimate_voltage(float voltage)
{
float ret = 0;
static param_t bat_volt_empty;
static param_t bat_volt_full;
static param_t bat_n_cells;
static bool initialized = false;
static unsigned int counter = 0;
static float ncells = 3;
// XXX change cells to int (and param to INT32)
if (!initialized) {
bat_volt_empty = param_find("BAT_V_EMPTY");
bat_volt_full = param_find("BAT_V_FULL");
bat_n_cells = param_find("BAT_N_CELLS");
initialized = true;
}
static float chemistry_voltage_empty = 3.2f;
static float chemistry_voltage_full = 4.05f;
if (counter % 100 == 0) {
param_get(bat_volt_empty, &chemistry_voltage_empty);
param_get(bat_volt_full, &chemistry_voltage_full);
param_get(bat_n_cells, &ncells);
}
counter++;
ret = (voltage - ncells * chemistry_voltage_empty) / (ncells * (chemistry_voltage_full - chemistry_voltage_empty));
/* limit to sane values */
ret = (ret < 0.0f) ? 0.0f : ret;
ret = (ret > 1.0f) ? 1.0f : ret;
return ret;
}