status_display.h

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/**
 * @file status_display.h
 * Status Display decouples LED and tunes from commander
 *
 * @author Simone Guscetti <simone@px4.io>
 */

#pragma once

#include "subscriber_handler.h"

#include <drivers/drv_hrt.h>

#include <uORB/PublicationQueued.hpp>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/cpuload.h>
#include <uORB/topics/led_control.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/vehicle_status_flags.h>

namespace events
{
namespace status
{

class StatusDisplay
{
public:

    StatusDisplay(const events::SubscriberHandler &subscriber_handler);

    /** regularily called to handle state updates */
    void process();

protected:
    /**
     * check for topic updates
     * @return true if one or more topics got updated
     */
    bool check_for_updates();

    /**
     * handle LED logic changes & call publish()
     */
    void set_leds();

    /** publish LED control */
    void publish();

    // TODO: review if there is a better variant that allocates this in the memory
    struct battery_status_s _battery_status = {};
    struct cpuload_s _cpu_load = {};
    struct vehicle_status_s _vehicle_status = {};
    struct vehicle_status_flags_s _vehicle_status_flags = {};
    struct vehicle_attitude_s _vehicle_attitude = {};

    struct led_control_s _led_control = {};

private:
    bool _old_gps_lock_valid = false;
    bool _old_home_position_valid = false;
    bool _low_battery = false;
    bool _critical_battery = false;
    int _old_nav_state = -1;
    int _old_battery_status_warning = -1;

    uORB::PublicationQueued<led_control_s> _led_control_pub{ORB_ID(led_control)};

    const events::SubscriberHandler &_subscriber_handler;
};

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