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author | Anton Babushkin <anton.babushkin@me.com> | 2013-09-19 19:58:41 +0200 |
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committer | Anton Babushkin <anton.babushkin@me.com> | 2013-09-19 19:58:41 +0200 |
commit | 2362041dc127620ac1fb823b8aab8416ba17f0c7 (patch) | |
tree | 9e69e1dcb67463e3df6388a4a2a3919d560e8fb3 /src/modules/commander/commander_helper.cpp | |
parent | 09452805b13103172ae8d43eea2a419a761249f2 (diff) | |
download | px4-firmware-2362041dc127620ac1fb823b8aab8416ba17f0c7.tar.gz px4-firmware-2362041dc127620ac1fb823b8aab8416ba17f0c7.tar.bz2 px4-firmware-2362041dc127620ac1fb823b8aab8416ba17f0c7.zip |
commander: state indication changed, 3 green blinks = succsess, 3 white blinks = neutral, 3 red blinks = reject
Diffstat (limited to 'src/modules/commander/commander_helper.cpp')
-rw-r--r-- | src/modules/commander/commander_helper.cpp | 50 |
1 files changed, 40 insertions, 10 deletions
diff --git a/src/modules/commander/commander_helper.cpp b/src/modules/commander/commander_helper.cpp index 017499cb5..565b4b66a 100644 --- a/src/modules/commander/commander_helper.cpp +++ b/src/modules/commander/commander_helper.cpp @@ -3,6 +3,7 @@ * Copyright (C) 2013 PX4 Development Team. All rights reserved. * Author: Thomas Gubler <thomasgubler@student.ethz.ch> * Julian Oes <joes@student.ethz.ch> + * Anton Babushkin <anton.babushkin@me.com> * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -55,7 +56,6 @@ #include <drivers/drv_led.h> #include <drivers/drv_rgbled.h> - #include "commander_helper.h" /* oddly, ERROR is not defined for c++ */ @@ -64,21 +64,24 @@ #endif static const int ERROR = -1; +#define BLINK_MSG_TIME 700000 // 3 fast blinks + 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)); + (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); + || (current_status->system_type == VEHICLE_TYPE_COAXIAL); } static int buzzer; +static hrt_abstime blink_msg_end; int buzzer_init() { @@ -104,16 +107,25 @@ void tune_error() void tune_positive() { + blink_msg_end = hrt_absolute_time() + BLINK_MSG_TIME; + rgbled_set_color(RGBLED_COLOR_GREEN); + rgbled_set_mode(RGBLED_MODE_BLINK_FAST); ioctl(buzzer, TONE_SET_ALARM, TONE_NOTIFY_POSITIVE_TUNE); } void tune_neutral() { + blink_msg_end = hrt_absolute_time() + BLINK_MSG_TIME; + rgbled_set_color(RGBLED_COLOR_WHITE); + rgbled_set_mode(RGBLED_MODE_BLINK_FAST); ioctl(buzzer, TONE_SET_ALARM, TONE_NOTIFY_NEUTRAL_TUNE); } void tune_negative() { + blink_msg_end = hrt_absolute_time() + BLINK_MSG_TIME; + rgbled_set_color(RGBLED_COLOR_RED); + rgbled_set_mode(RGBLED_MODE_BLINK_FAST); ioctl(buzzer, TONE_SET_ALARM, TONE_NOTIFY_NEGATIVE_TUNE); } @@ -132,18 +144,31 @@ 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); } +int blink_msg_state() +{ + if (blink_msg_end == 0) { + return 0; + + } else if (hrt_absolute_time() > blink_msg_end) { + return 2; + + } else { + return 1; + } +} + static int leds; static int rgbleds; int led_init() { + blink_msg_end = 0; + /* first open normal LEDs */ leds = open(LED_DEVICE_PATH, 0); @@ -159,6 +184,7 @@ int led_init() warnx("Blue LED: ioctl fail\n"); return ERROR; } + #endif if (ioctl(leds, LED_ON, LED_AMBER)) { @@ -168,6 +194,7 @@ int led_init() /* 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); @@ -203,19 +230,22 @@ int led_off(int led) return ioctl(leds, LED_OFF, led); } -void rgbled_set_color(rgbled_color_t color) { +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) { +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) { +void rgbled_set_pattern(rgbled_pattern_t *pattern) +{ if (rgbleds != -1) ioctl(rgbleds, RGBLED_SET_PATTERN, (unsigned long)pattern); |