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/****************************************************************************
*
* Copyright (C) 2014 PX4 Development Team. All rights reserved.
* Author: Pavel Kirienko <pavel.kirienko@gmail.com>
*
* 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.
*
****************************************************************************/
#include <systemlib/systemlib.h>
#include "indication_controller.hpp"
#include <uavcan/equipment/indication/LightsCommand.hpp>
#include "led.hpp"
namespace
{
unsigned self_light_index = 0;
void cb_light_command(const uavcan::ReceivedDataStructure<uavcan::equipment::indication::LightsCommand>& msg)
{
for (auto& cmd : msg.commands)
{
if (cmd.light_id == self_light_index)
{
using uavcan::equipment::indication::RGB565;
uavcan::uint32_t red = uavcan::uint32_t(float(cmd.color.red) *
(255.0F / float(RGB565::FieldTypes::red::max())) + 0.5F);
uavcan::uint32_t green = uavcan::uint32_t(float(cmd.color.green) *
(255.0F / float(RGB565::FieldTypes::green::max())) + 0.5F);
uavcan::uint32_t 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);
rgb_led(red, green, blue, 0);
break;
}
}
}
}
int init_indication_controller(uavcan::INode& node)
{
static uavcan::Subscriber<uavcan::equipment::indication::LightsCommand> sub_light(node);
self_light_index = 0;
int res = 0;
res = sub_light.start(cb_light_command);
if (res != 0) {
return res;
}
return 0;
}
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