status_display.cpp

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/**
 * @file status_display.cpp
 * Status Display: this decouples the LED and tune logic from the control logic in commander
 *
 * @author Simone Guscetti <simone@px4.io>
 * @author Beat Küng <beat-kueng@gmx.net>
 * @editor Christoph Tobler <christoph@px4.io>
 */

#include "status_display.h"
#include <drivers/drv_led.h>

namespace events
{
namespace status
{

StatusDisplay::StatusDisplay(const events::SubscriberHandler &subscriber_handler)
    : _subscriber_handler(subscriber_handler)
{
    // set the base color
    _led_control.priority = 0;
    _led_control.led_mask = 0xff;
    _led_control.color = led_control_s::COLOR_CYAN;
    _led_control.mode = led_control_s::MODE_ON;
    publish();

    _led_control.priority = 1;
    _led_control.num_blinks = 0;    // infinite blinking
}

bool StatusDisplay::check_for_updates()
{
    bool got_updates = false;

    if (_subscriber_handler.battery_status_updated()) {
        orb_copy(ORB_ID(battery_status), _subscriber_handler.get_battery_status_sub(), &_battery_status);
        got_updates = true;
    }

    if (_subscriber_handler.cpuload_updated()) {
        orb_copy(ORB_ID(cpuload), _subscriber_handler.get_cpuload_sub(), &_cpu_load);
        got_updates = true;
    }

    if (_subscriber_handler.vehicle_status_flags_updated()) {
        orb_copy(ORB_ID(vehicle_status_flags), _subscriber_handler.get_vehicle_status_flags_sub(), &_vehicle_status_flags);
        got_updates = true;
    }

    if (_subscriber_handler.vehicle_status_updated()) {
        orb_copy(ORB_ID(vehicle_status), _subscriber_handler.get_vehicle_status_sub(), &_vehicle_status);
        got_updates = true;
    }

    return got_updates;
}

void StatusDisplay::process()
{
    if (!check_for_updates()) {
        return;
    }

    set_leds();
}

void StatusDisplay::publish()
{
    _led_control.timestamp = hrt_absolute_time();

    _led_control_pub.publish(_led_control);
}

} /* namespace status */
} /* namespace events */