indication_controller.cpp

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 *
 *   Copyright (C) 2014 PX4 Development Team. All rights reserved.
 *   Author: Pavel Kirienko <pavel.kirienko@gmail.com>
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#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)
{
    uavcan::uint32_t red = 0;
    uavcan::uint32_t green = 0;
    uavcan::uint32_t blue = 0;

    for (auto &cmd : msg.commands) {
        if (cmd.light_id == self_light_index) {
            using uavcan::equipment::indication::RGB565;

            red = uavcan::uint32_t(float(cmd.color.red) *
                           (255.0F / float(RGB565::FieldTypes::red::max())) + 0.5F);

            green = uavcan::uint32_t(float(cmd.color.green) *
                         (255.0F / float(RGB565::FieldTypes::green::max())) + 0.5F);

            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);
        }

        if (cmd.light_id == self_light_index + 1) {
            static int c = 0;

            if (c++ % 100 == 0) {
                ::syslog(LOG_INFO, "rgb:%d %d %d hz %d\n", red, green, blue,  int(cmd.color.red));
            }

            rgb_led(red, green, blue, int(cmd.color.red));
            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;
}