From 6ff3f51f88c2335f225a2a391de5ee353487a69b Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sat, 17 Aug 2013 15:47:42 +0200 Subject: Added dim RGB led support, not operational yet --- src/modules/commander/commander.cpp | 35 +++++++++++++++++++++++++---------- 1 file changed, 25 insertions(+), 10 deletions(-) (limited to 'src/modules/commander/commander.cpp') diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 2e5d080b9..30906034e 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -52,6 +52,7 @@ #include #include #include +#include #include #include #include @@ -153,6 +154,8 @@ static unsigned int failsafe_lowlevel_timeout_ms; static unsigned int leds_counter; /* To remember when last notification was sent */ static uint64_t last_print_mode_reject_time = 0; +/* if connected via USB */ +static bool on_usb_power = false; /* tasks waiting for low prio thread */ @@ -205,6 +208,8 @@ transition_result_t check_main_state_machine(struct vehicle_status_s *current_st void print_reject_mode(const char *msg); +void print_status(); + transition_result_t check_navigation_state_machine(struct vehicle_status_s *current_status, struct vehicle_control_mode_s *control_mode); /** @@ -244,6 +249,7 @@ int commander_main(int argc, char *argv[]) if (!strcmp(argv[1], "status")) { if (thread_running) { warnx("\tcommander is running\n"); + print_status(); } else { warnx("\tcommander not started\n"); @@ -265,6 +271,10 @@ void usage(const char *reason) exit(1); } +void print_status() { + warnx("usb powered: %s", (on_usb_power) ? "yes" : "no"); +} + void handle_command(struct vehicle_status_s *status, const struct safety_s *safety, struct vehicle_control_mode_s *control_mode, struct vehicle_command_s *cmd, struct actuator_armed_s *armed) { /* result of the command */ @@ -865,9 +875,14 @@ int commander_thread_main(int argc, char *argv[]) status.load = 1.0f - ((float)interval_runtime / 1e6f); //system load is time spent in non-idle last_idle_time = system_load.tasks[0].total_runtime; + + /* check if board is connected via USB */ + struct stat statbuf; + //on_usb_power = (stat("/dev/ttyACM0", &statbuf) == 0); } - warnx("bat remaining: %2.2f", status.battery_remaining); + // XXX remove later + //warnx("bat remaining: %2.2f", status.battery_remaining); /* if battery voltage is getting lower, warn using buzzer, etc. */ if (status.condition_battery_voltage_valid && status.battery_remaining < 0.25f && !low_battery_voltage_actions_done) { @@ -1362,22 +1377,22 @@ toggle_status_leds(vehicle_status_s *status, actuator_armed_s *armed, bool chang if (armed->armed) { /* armed, solid */ if (status->battery_warning == VEHICLE_BATTERY_WARNING_WARNING) { - pattern.color[0] = RGBLED_COLOR_AMBER; + pattern.color[0] = (on_usb_power) ? RGBLED_COLOR_DIM_AMBER : RGBLED_COLOR_AMBER; } else if (status->battery_warning == VEHICLE_BATTERY_WARNING_ALERT) { - pattern.color[0] = RGBLED_COLOR_RED; + pattern.color[0] = (on_usb_power) ? RGBLED_COLOR_DIM_RED : RGBLED_COLOR_RED; } else { - pattern.color[0] = RGBLED_COLOR_GREEN; + pattern.color[0] = (on_usb_power) ? RGBLED_COLOR_DIM_GREEN :RGBLED_COLOR_GREEN; } pattern.duration[0] = 1000; } else if (armed->ready_to_arm) { for (i=0; i<3; i++) { if (status->battery_warning == VEHICLE_BATTERY_WARNING_WARNING) { - pattern.color[i*2] = RGBLED_COLOR_AMBER; + pattern.color[i*2] = (on_usb_power) ? RGBLED_COLOR_DIM_AMBER : RGBLED_COLOR_AMBER; } else if (status->battery_warning == VEHICLE_BATTERY_WARNING_ALERT) { - pattern.color[i*2] = RGBLED_COLOR_RED; + pattern.color[i*2] = (on_usb_power) ? RGBLED_COLOR_DIM_RED : RGBLED_COLOR_RED; } else { - pattern.color[i*2] = RGBLED_COLOR_GREEN; + pattern.color[i*2] = (on_usb_power) ? RGBLED_COLOR_DIM_GREEN : RGBLED_COLOR_GREEN; } pattern.duration[i*2] = 200; @@ -1385,13 +1400,13 @@ toggle_status_leds(vehicle_status_s *status, actuator_armed_s *armed, bool chang pattern.duration[i*2+1] = 800; } if (status->condition_global_position_valid) { - pattern.color[i*2] = RGBLED_COLOR_BLUE; + pattern.color[i*2] = (on_usb_power) ? RGBLED_COLOR_DIM_BLUE : RGBLED_COLOR_BLUE; pattern.duration[i*2] = 1000; pattern.color[i*2+1] = RGBLED_COLOR_OFF; pattern.duration[i*2+1] = 800; } else { for (i=3; i<6; i++) { - pattern.color[i*2] = RGBLED_COLOR_BLUE; + pattern.color[i*2] = (on_usb_power) ? RGBLED_COLOR_DIM_BLUE : RGBLED_COLOR_BLUE; pattern.duration[i*2] = 100; pattern.color[i*2+1] = RGBLED_COLOR_OFF; pattern.duration[i*2+1] = 100; @@ -1402,7 +1417,7 @@ toggle_status_leds(vehicle_status_s *status, actuator_armed_s *armed, bool chang } else { for (i=0; i<3; i++) { - pattern.color[i*2] = RGBLED_COLOR_RED; + pattern.color[i*2] = (on_usb_power) ? RGBLED_COLOR_DIM_RED : RGBLED_COLOR_RED; pattern.duration[i*2] = 200; pattern.color[i*2+1] = RGBLED_COLOR_OFF; pattern.duration[i*2+1] = 200; -- cgit v1.2.3