libraries/AP_Notify/AP_Notify.cpp - master - Sangak/ardupilot

libraries/AP_Notify/AP_Notify.cpp
529 строк17 KB
Peter Barker
AP_Notify: use linux hwdefs to define AP_Notify information
19 фев 2025, 07:42
19 фев 2025, 07:425341690
/*
   This program is free software: you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
   the Free Software Foundation, either version 3 of the License, or
   (at your option) any later version.

   This program is distributed in the hope that it will be useful,
   but WITHOUT ANY WARRANTY; without even the implied warranty of
   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
   GNU General Public License for more details.

   You should have received a copy of the GNU General Public License
   along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */

#include "AP_Notify.h"

#include "AP_BoardLED.h"
#include "PixRacerLED.h"
#include "Buzzer.h"
#include "Display.h"
#include "ExternalLED.h"
#include "GPIO_LED_1.h"
#include "IS31FL3195.h"
#include "PCA9685LED_I2C.h"
#include "NavigatorLED.h"
#include "NeoPixel.h"
#include "NCP5623.h"
#include "OreoLED_I2C.h"
#include "RCOutputRGBLed.h"
#include "ToneAlarm.h"
#include "ToshibaLED_I2C.h"
#include "LP5562.h"
#include "VRBoard_LED.h"
#include "DiscreteRGBLed.h"
#include "DiscoLED.h"
#include "Led_Sysfs.h"
#include "DroneCAN_RGB_LED.h"
#include "SITL_SFML_LED.h"
#include <stdio.h>
#include "AP_BoardLED2.h"
#include "ProfiLED.h"
#include "ScriptingLED.h"
#include "DShotLED.h"
#include "ProfiLED_IOMCU.h"

extern const AP_HAL::HAL& hal;

AP_Notify *AP_Notify::_singleton;

#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
#define CONFIG_NOTIFY_DEVICES_MAX 12
#else
#define CONFIG_NOTIFY_DEVICES_MAX 6
#endif

#if AP_NOTIFY_TOSHIBALED_ENABLED
#define TOSHIBA_LED_I2C_BUS_INTERNAL    0
#define TOSHIBA_LED_I2C_BUS_EXTERNAL    1
#define ALL_TOSHIBALED_I2C (Notify_LED_ToshibaLED_I2C_Internal | Notify_LED_ToshibaLED_I2C_External)
#else
#define ALL_TOSHIBALED_I2C 0
#endif

#if AP_NOTIFY_NCP5623_ENABLED
#define ALL_NCP5623_I2C (Notify_LED_NCP5623_I2C_Internal | Notify_LED_NCP5623_I2C_External)
#else
#define ALL_NCP5623_I2C 0
#endif

#if AP_NOTIFY_LP5562_ENABLED
#define ALL_LP5562_I2C (Notify_LED_LP5562_I2C_Internal | Notify_LED_LP5562_I2C_External)
#else
#define ALL_LP5562_I2C 0
#endif

#if AP_NOTIFY_IS31FL3195_ENABLED
#define ALL_IS31FL3195_I2C (Notify_LED_IS31FL3195_I2C_Internal | Notify_LED_IS31FL3195_I2C_External)
#else
#define ALL_IS31FL3195_I2C 0
#endif

// all I2C_LEDS
#define I2C_LEDS (ALL_TOSHIBALED_I2C | ALL_NCP5623_I2C | ALL_LP5562_I2C | ALL_IS31FL3195_I2C)

#if AP_NOTIFY_DRONECAN_LED_ENABLED
#define DRONECAN_LEDS Notify_LED_DroneCAN
#else
#define DRONECAN_LEDS 0
#endif

#ifndef DEFAULT_NTF_LED_TYPES
    #if HAL_WITH_IO_MCU && AP_IOMCU_PROFILED_SUPPORT_ENABLED
      #define DEFAULT_NTF_LED_TYPES (Notify_LED_Board | Notify_LED_ProfiLED_IOMCU | I2C_LEDS)
    #else
        #define DEFAULT_NTF_LED_TYPES (Notify_LED_Board | I2C_LEDS)
    #endif
#endif // DEFAULT_NTF_LED_TYPES

#ifndef BUZZER_ENABLE_DEFAULT
#if HAL_CANMANAGER_ENABLED
// Enable Buzzer messages over UAVCAN
#define BUZZER_ENABLE_DEFAULT (uint8_t(BuzzerType::BUILTIN) | uint8_t(BuzzerType::UAVCAN))
#else
#define BUZZER_ENABLE_DEFAULT uint8_t(BuzzerType::BUILTIN)
#endif
#endif

#ifndef BUILD_DEFAULT_BUZZER_TYPE
#define BUILD_DEFAULT_BUZZER_TYPE BUZZER_ENABLE_DEFAULT
#endif

#ifndef NOTIFY_LED_BRIGHT_DEFAULT
#define NOTIFY_LED_BRIGHT_DEFAULT RGB_LED_HIGH
#endif

#ifndef NOTIFY_LED_OVERRIDE_DEFAULT
#define NOTIFY_LED_OVERRIDE_DEFAULT 0       // rgb_source_t::standard
#endif

#ifndef NOTIFY_LED_LEN_DEFAULT
#define NOTIFY_LED_LEN_DEFAULT 1
#endif

#ifndef HAL_BUZZER_PIN
#define HAL_BUZZER_PIN -1
#endif

#ifndef DEFAULT_BUZZ_ON_LVL
#define DEFAULT_BUZZ_ON_LVL 1
#endif

// table of user settable parameters
const AP_Param::GroupInfo AP_Notify::var_info[] = {

    // @Param: LED_BRIGHT
    // @DisplayName: LED Brightness
    // @Description: Select the RGB LED brightness level. When USB is connected brightness will never be higher than low regardless of the setting.
    // @Values: 0:Off,1:Low,2:Medium,3:High
    // @User: Advanced
    AP_GROUPINFO("LED_BRIGHT", 0, AP_Notify, _rgb_led_brightness, NOTIFY_LED_BRIGHT_DEFAULT),

    // @Param: BUZZ_TYPES
    // @DisplayName: Buzzer Driver Types
    // @Description: Controls what types of Buzzer will be enabled
    // @Bitmask: 0:Built-in buzzer, 1:DShot, 2:DroneCAN
    // @User: Advanced
    AP_GROUPINFO("BUZZ_TYPES", 1, AP_Notify, _buzzer_type, BUILD_DEFAULT_BUZZER_TYPE),

    // @Param: LED_OVERRIDE
    // @DisplayName: Specifies colour source for the RGBLed
    // @Description: Specifies the source for the colours and brightness for the LED.  OutbackChallenge conforms to the MedicalExpress (https://uavchallenge.org/medical-express/) rules, essentially "Green" is disarmed (safe-to-approach), "Red" is armed (not safe-to-approach). Traffic light is a simplified color set, red when armed, yellow when the safety switch is not surpressing outputs (but disarmed), and green when outputs are surpressed and disarmed, the LED will blink faster if disarmed and failing arming checks.
    // @Values: 0:Standard,1:MAVLink/Scripting/AP_Periph,2:OutbackChallenge,3:TrafficLight
    // @User: Advanced
    AP_GROUPINFO("LED_OVERRIDE", 2, AP_Notify, _rgb_led_override, NOTIFY_LED_OVERRIDE_DEFAULT),

#if HAL_DISPLAY_ENABLED
    // @Param: DISPLAY_TYPE
    // @DisplayName: Type of on-board I2C display
    // @Description: This sets up the type of on-board I2C display. Disabled by default.
    // @Values: 0:Disable,1:ssd1306,2:sh1106,10:SITL
    // @User: Advanced
    AP_GROUPINFO("DISPLAY_TYPE", 3, AP_Notify, _display_type, 0),
#endif

#if AP_NOTIFY_OREOLED_ENABLED
    // @Param: OREO_THEME
    // @DisplayName: OreoLED Theme
    // @Description: Enable/Disable Solo Oreo LED driver, 0 to disable, 1 for Aircraft theme, 2 for Rover theme
    // @Values: 0:Disabled,1:Aircraft,2:Rover
    // @User: Advanced
    AP_GROUPINFO("OREO_THEME", 4, AP_Notify, _oreo_theme, 0),
#endif

    // @Param: BUZZ_PIN
    // @DisplayName: Buzzer pin
    // @Description: Enables to connect active buzzer to arbitrary pin. Requires 3-pin buzzer or additional MOSFET! Some the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.
    // @Values: -1:Disabled
    // @User: Advanced
    AP_GROUPINFO("BUZZ_PIN", 5, AP_Notify, _buzzer_pin, HAL_BUZZER_PIN),

    // @Param: LED_TYPES
    // @DisplayName: LED Driver Types
    // @Description: Controls what types of LEDs will be enabled
    // @Bitmask: 0:Built-in LED, 1:Internal ToshibaLED, 2:External ToshibaLED, 3:External PCA9685, 4:Oreo LED, 5:DroneCAN, 6:NCP5623 External, 7:NCP5623 Internal, 8:NeoPixel, 9:ProfiLED, 10:Scripting, 11:DShot, 12:ProfiLED_SPI, 13:LP5562 External, 14: LP5562 Internal, 15:IS31FL3195 External, 16: IS31FL3195 Internal, 17: DiscreteRGB, 18: NeoPixelRGB, 19:ProfiLED_IOMCU
    // @User: Advanced
    AP_GROUPINFO("LED_TYPES", 6, AP_Notify, _led_type, DEFAULT_NTF_LED_TYPES),

    // @Param: BUZZ_ON_LVL
    // @DisplayName: Buzzer-on pin logic level
    // @Description: Specifies pin level that indicates buzzer should play
    // @Values: 0:LowIsOn,1:HighIsOn
    // @User: Advanced
    AP_GROUPINFO("BUZZ_ON_LVL", 7, AP_Notify, _buzzer_level, DEFAULT_BUZZ_ON_LVL),

    // @Param: BUZZ_VOLUME
    // @DisplayName: Buzzer volume
    // @Description: Control the volume of the buzzer
    // @Range: 0 100
    // @Units: %
    AP_GROUPINFO("BUZZ_VOLUME", 8, AP_Notify, _buzzer_volume, 100),

    // @Param: LED_LEN
    // @DisplayName: Serial LED String Length
    // @Description: The number of Serial LED's to use for notifications (NeoPixel's and ProfiLED)
    // @Range: 1 32
    // @User: Advanced
    // @RebootRequired: True
    AP_GROUPINFO("LED_LEN", 9, AP_Notify, _led_len, NOTIFY_LED_LEN_DEFAULT),

    AP_GROUPEND
};

// Default constructor
AP_Notify::AP_Notify()
{
    AP_Param::setup_object_defaults(this, var_info);
    if (_singleton != nullptr) {
        AP_HAL::panic("AP_Notify must be singleton");
    }
    _singleton = this;
}

// static flags, to allow for direct class update from device drivers
struct AP_Notify::notify_flags_and_values_type AP_Notify::flags;
struct AP_Notify::notify_events_type AP_Notify::events;

NotifyDevice *AP_Notify::_devices[CONFIG_NOTIFY_DEVICES_MAX];
uint8_t AP_Notify::_num_devices;

void AP_Notify::add_backend_helper(NotifyDevice *backend)
{
    _devices[_num_devices] = backend;
    _devices[_num_devices]->pNotify = this;
    if(!_devices[_num_devices]->init()) {
        delete _devices[_num_devices];
        _devices[_num_devices] = nullptr;
    } else {
      _num_devices++;
    }
}

#define ADD_BACKEND(backend) do { add_backend_helper(backend); if (_num_devices >= CONFIG_NOTIFY_DEVICES_MAX) return;} while(0)

// add notify backends to _devices array
void AP_Notify::add_backends(void)
{
    if (_num_devices != 0) {
        return;
    }

    for (uint32_t i = 1; i < Notify_LED_MAX; i = i << 1) {
        switch(_led_type & i) {
            case Notify_LED_None:
                break;
            case Notify_LED_Board:
                // select the most appropriate built in LED driver type
#if AP_NOTIFY_SYSFS_LED_ENABLED
                ADD_BACKEND(NEW_NOTHROW Led_Sysfs("rgb_led0", "rgb_led2", "rgb_led1"));
#elif AP_NOTIFY_RCOUTPUTRGBLEDINVERTED_LED_ENABLED
                ADD_BACKEND(NEW_NOTHROW RCOutputRGBLedInverted(12, 13, 14));
#elif AP_NOTIFY_RCOUTPUTRGBLED_LED_ENABLED
                ADD_BACKEND(NEW_NOTHROW RCOutputRGBLed(HAL_RCOUT_RGBLED_RED, HAL_RCOUT_RGBLED_GREEN, HAL_RCOUT_RGBLED_BLUE));
#elif AP_NOTIFY_DISCO_LED_ENABLED
                ADD_BACKEND(NEW_NOTHROW DiscoLED());
#elif AP_NOTIFY_NAVIGATOR_LED_ENABLED
                ADD_BACKEND(NEW_NOTHROW NavigatorLED());
#endif

#if AP_NOTIFY_EXTERNALLED_ENABLED
                ADD_BACKEND(NEW_NOTHROW ExternalLED()); // despite the name this is a built in set of onboard LED's
#endif

#if AP_NOTIFY_GPIO_LED_RGB_ENABLED
                ADD_BACKEND(NEW_NOTHROW PixRacerLED());
#elif AP_NOTIFY_VRBOARD_LED_ENABLED
                ADD_BACKEND(NEW_NOTHROW VRBoard_LED());
#elif AP_NOTIFY_GPIO_LED_3_ENABLED
                ADD_BACKEND(NEW_NOTHROW AP_BoardLED());
#elif AP_NOTIFY_GPIO_LED_2_ENABLED
                ADD_BACKEND(NEW_NOTHROW AP_BoardLED2());
#endif
#if AP_NOTIFY_GPIO_LED_1_ENABLED
                ADD_BACKEND(NEW_NOTHROW GPIO_LED_1());
#endif
                break;
#if AP_NOTIFY_TOSHIBALED_ENABLED
            case Notify_LED_ToshibaLED_I2C_Internal:
                ADD_BACKEND(NEW_NOTHROW ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_INTERNAL));
                break;
            case Notify_LED_ToshibaLED_I2C_External:
                ADD_BACKEND(NEW_NOTHROW ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_EXTERNAL));
                break;
#endif
#if AP_NOTIFY_NCP5623_ENABLED
            case Notify_LED_NCP5623_I2C_External:
                FOREACH_I2C_EXTERNAL(b) {
                    ADD_BACKEND(NEW_NOTHROW NCP5623(b));
                }
                break;
            case Notify_LED_NCP5623_I2C_Internal:
                FOREACH_I2C_INTERNAL(b) {
                    ADD_BACKEND(NEW_NOTHROW NCP5623(b));
                }
                break;
#endif
#if AP_NOTIFY_PCA9685_ENABLED
            case Notify_LED_PCA9685LED_I2C_External:
                ADD_BACKEND(NEW_NOTHROW PCA9685LED_I2C());
                break;
#endif
#if AP_NOTIFY_NEOPIXEL_ENABLED
            case Notify_LED_NeoPixel:
            case Notify_LED_NeoPixelRGB:
                ADD_BACKEND(NEW_NOTHROW NeoPixel());
                break;
#endif
#if AP_NOTIFY_PROFILED_ENABLED
            case Notify_LED_ProfiLED:
                ADD_BACKEND(NEW_NOTHROW ProfiLED());
                break;
#endif
#if AP_NOTIFY_PROFILED_SPI_ENABLED
            case Notify_LED_ProfiLED_SPI:
                ADD_BACKEND(NEW_NOTHROW ProfiLED_SPI());
                break;
#endif
#if AP_NOTIFY_OREOLED_ENABLED
            case Notify_LED_OreoLED:
                if (_oreo_theme) {
                    ADD_BACKEND(NEW_NOTHROW OreoLED_I2C(0, _oreo_theme));
                }
                break;
#endif
#if AP_NOTIFY_DRONECAN_LED_ENABLED
            case Notify_LED_DroneCAN:
                ADD_BACKEND(NEW_NOTHROW DroneCAN_RGB_LED());
                break;
#endif // AP_NOTIFY_DRONECAN_LED_ENABLED
#if AP_NOTIFY_SCRIPTING_LED_ENABLED
            case Notify_LED_Scripting:
                ADD_BACKEND(NEW_NOTHROW ScriptingLED());
                break;
#endif
#if AP_NOTIFY_DSHOT_LED_ENABLED
            case Notify_LED_DShot:
                ADD_BACKEND(NEW_NOTHROW DShotLED());
                break;
#endif
#if HAL_WITH_IO_MCU && AP_IOMCU_PROFILED_SUPPORT_ENABLED
            case Notify_LED_ProfiLED_IOMCU:
                ADD_BACKEND(NEW_NOTHROW ProfiLED_IOMCU());
                break;
#endif
#if AP_NOTIFY_LP5562_ENABLED
            case Notify_LED_LP5562_I2C_External:
                FOREACH_I2C_EXTERNAL(b) {
                    ADD_BACKEND(NEW_NOTHROW LP5562(b, 0x30));
                }
                break;
            case Notify_LED_LP5562_I2C_Internal:
                FOREACH_I2C_INTERNAL(b) {
                    ADD_BACKEND(NEW_NOTHROW LP5562(b, 0x30));
                }
                break;
#endif
#if AP_NOTIFY_IS31FL3195_ENABLED
            case Notify_LED_IS31FL3195_I2C_External:
                FOREACH_I2C_EXTERNAL(b) {
                    ADD_BACKEND(NEW_NOTHROW IS31FL3195(b, 0x54));
                }
                break;
            case Notify_LED_IS31FL3195_I2C_Internal:
                FOREACH_I2C_INTERNAL(b) {
                    ADD_BACKEND(NEW_NOTHROW IS31FL3195(b, 0x54));
                }
                break;
#endif
#if AP_NOTIFY_DISCRETE_RGB_ENABLED
            case Notify_LED_DiscreteRGB:
                ADD_BACKEND(NEW_NOTHROW DiscreteRGBLed(DISCRETE_RGB_RED_PIN,
                                               DISCRETE_RGB_GREEN_PIN,
                                               DISCRETE_RGB_BLUE_PIN,
                                               DISCRETE_RGB_POLARITY));
                break;
#endif
        }
    }

#if HAL_DISPLAY_ENABLED
    // Always try and add a display backend
    ADD_BACKEND(NEW_NOTHROW Display());
#endif

// Noise makers:
#if AP_NOTIFY_BUZZER_ENABLED
    ADD_BACKEND(NEW_NOTHROW Buzzer());
#endif

#if AP_NOTIFY_TONEALARM_ENABLED
    ADD_BACKEND(NEW_NOTHROW AP_ToneAlarm());
#endif


#ifdef WITH_SITL_RGBLED
    ADD_BACKEND(NEW_NOTHROW SITL_SFML_LED());
#endif
}

// initialisation
void AP_Notify::init(void)
{
    // add all the backends
    add_backends();
}

// main update function, called at 50Hz
void AP_Notify::update(void)
{
    for (uint8_t i = 0; i < _num_devices; i++) {
        if (_devices[i] != nullptr) {
            _devices[i]->update();
        }
    }

    //reset the events
    memset(&AP_Notify::events, 0, sizeof(AP_Notify::events));
}

#if AP_NOTIFY_MAVLINK_LED_CONTROL_SUPPORT_ENABLED
// handle a LED_CONTROL message
void AP_Notify::handle_led_control(const mavlink_message_t &msg)
{
    for (uint8_t i = 0; i < _num_devices; i++) {
        if (_devices[i] != nullptr) {
            _devices[i]->handle_led_control(msg);
        }
    }
}
#endif

// handle RGB from Scripting or AP_Periph
void AP_Notify::handle_rgb(uint8_t r, uint8_t g, uint8_t b, uint8_t rate_hz)
{
    for (uint8_t i = 0; i < _num_devices; i++) {
        if (_devices[i] != nullptr) {
            _devices[i]->rgb_control(r, g, b, rate_hz);
        }
    }
}

// handle RGB Per led from Scripting
void AP_Notify::handle_rgb_id(uint8_t r, uint8_t g, uint8_t b, uint8_t id)
{
    for (uint8_t i = 0; i < _num_devices; i++) {
        if (_devices[i] != nullptr) {
            _devices[i]->rgb_set_id(r, g, b, id);
        }
    }
}

void AP_Notify::play_tune(const char *tune)
{
    for (uint8_t i = 0; i < _num_devices; i++) {
        if (_devices[i] != nullptr) {
            _devices[i]->play_tune(tune);
        }
    }
}

// set flight mode string
void AP_Notify::set_flight_mode_str(const char *str)
{
    strncpy(_flight_mode_str, str, sizeof(_flight_mode_str));
    _flight_mode_str[sizeof(_flight_mode_str)-1] = 0;
}

void AP_Notify::send_text(const char *str)
{
    strncpy(_send_text, str, sizeof(_send_text));
    _send_text[sizeof(_send_text)-1] = 0;
    _send_text_updated_millis = AP_HAL::millis();
}

#if AP_SCRIPTING_ENABLED
void AP_Notify::send_text_scripting(const char *str, uint8_t r)
{
    for (uint8_t i = 0; i < _num_devices; i++) {
        if (_devices[i] != nullptr) {
            _devices[i]->send_text_blocking(str, r);
        }
    }
}

void AP_Notify::release_text_scripting(uint8_t r)
{
    for (uint8_t i = 0; i < _num_devices; i++) {
        if (_devices[i] != nullptr) {
            _devices[i]->release_text(r);
        }
    }
}
#endif


// convert 0-3 to 0-100
int8_t AP_Notify::get_rgb_led_brightness_percent() const
{
    switch (_rgb_led_brightness) {
    default:
    case RGB_LED_OFF:
        return 0;
    case RGB_LED_LOW:
        return 33;
    case RGB_LED_MEDIUM:
        return 66;
    case RGB_LED_HIGH:
        return 100;
    }
}

namespace AP {

AP_Notify &notify()
{
    return *AP_Notify::get_singleton();
}

};