led_control.cpp

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/**
 * @file led_control.cpp
 */

#include <px4_platform_common/getopt.h>
#include <px4_platform_common/module.h>
#include <px4_platform_common/log.h>

#include <stdlib.h>
#include <unistd.h>

#include <drivers/drv_hrt.h>
#include <drivers/drv_led.h>

#include <uORB/PublicationQueued.hpp>
#include <uORB/topics/led_control.h>

static void usage();

extern "C" {
    __EXPORT int led_control_main(int argc, char *argv[]);
}

static void publish_led_control(led_control_s &led_control)
{
    led_control.timestamp = hrt_absolute_time();

    uORB::PublicationQueued<led_control_s> led_control_pub{ORB_ID(led_control)};
    led_control_pub.publish(led_control);
}

static void run_led_test1()
{
    PX4_INFO("generating LED pattern...");

    led_control_s led_control = {};
    led_control.led_mask = 0xff;
    led_control.mode = led_control_s::MODE_OFF;
    led_control.priority = led_control_s::MAX_PRIORITY;
    publish_led_control(led_control);

    px4_usleep(200 * 1000);

    // generate some pattern
    for (int round = led_control_s::COLOR_RED; round <= led_control_s::COLOR_WHITE; ++round) {
        for (int led = 0; led < BOARD_MAX_LEDS; ++led) {
            led_control.led_mask = 1 << led;
            led_control.mode = led_control_s::MODE_ON;
            led_control.color = round;
            publish_led_control(led_control);
            px4_usleep(80 * 1000);
        }

        px4_usleep(100 * 1000);
        led_control.led_mask = 0xff;

        for (int i = 0; i < 3; ++i) {
            led_control.mode = led_control_s::MODE_ON;
            publish_led_control(led_control);
            px4_usleep(100 * 1000);
            led_control.mode = led_control_s::MODE_OFF;
            publish_led_control(led_control);
            px4_usleep(100 * 1000);
        }

        px4_usleep(200 * 1000);
    }

    px4_usleep(500 * 1000);

    // reset
    led_control.led_mask = 0xff;
    led_control.mode = led_control_s::MODE_DISABLED;
    publish_led_control(led_control);

    PX4_INFO("Done");
}

int
led_control_main(int argc, char *argv[])
{
    int myoptind = 1;
    int ch;
    const char *myoptarg = nullptr;
    uint8_t blink_speed = led_control_s::MODE_BLINK_NORMAL;
    led_control_s led_control = {};
    led_control.num_blinks = 3;
    led_control.priority = led_control_s::MAX_PRIORITY;
    led_control.mode = 0xff;
    led_control.led_mask = 0xff;
    led_control.color = led_control_s::COLOR_WHITE;

    while ((ch = px4_getopt(argc, argv, "c:l:n:s:p:", &myoptind, &myoptarg)) != EOF) {
        switch (ch) {
        case 'c':
            if (!strcmp(myoptarg, "red")) {
                led_control.color = led_control_s::COLOR_RED;

            } else if (!strcmp(myoptarg, "blue")) {
                led_control.color = led_control_s::COLOR_BLUE;

            } else if (!strcmp(myoptarg, "green")) {
                led_control.color = led_control_s::COLOR_GREEN;

            } else if (!strcmp(myoptarg, "yellow")) {
                led_control.color = led_control_s::COLOR_YELLOW;

            } else if (!strcmp(myoptarg, "purple")) {
                led_control.color = led_control_s::COLOR_PURPLE;

            } else if (!strcmp(myoptarg, "amber")) {
                led_control.color = led_control_s::COLOR_AMBER;

            } else if (!strcmp(myoptarg, "cyan")) {
                led_control.color = led_control_s::COLOR_CYAN;

            } else if (!strcmp(myoptarg, "white")) {
                led_control.color = led_control_s::COLOR_WHITE;

            } else {
                usage();
                return 1;
            }

            break;

        case 'l':
            led_control.led_mask = 1 << strtol(myoptarg, nullptr, 0);
            break;

        case 'n':
            led_control.num_blinks = strtol(myoptarg, nullptr, 0);
            break;

        case 's':
            if (!strcmp(myoptarg, "fast")) {
                blink_speed = led_control_s::MODE_BLINK_FAST;

            } else if (!strcmp(myoptarg, "normal")) {
                blink_speed = led_control_s::MODE_BLINK_NORMAL;

            } else if (!strcmp(myoptarg, "slow")) {
                blink_speed = led_control_s::MODE_BLINK_SLOW;

            } else {
                usage();
                return 1;
            }

            break;

        case 'p':
            led_control.priority = strtol(myoptarg, nullptr, 0);
            break;

        default:
            usage();
            return -1;
            break;
        }
    }

    if (led_control.priority > led_control_s::MAX_PRIORITY) {
        led_control.priority = led_control_s::MAX_PRIORITY;
    }

    if (myoptind >= argc) {
        usage();
        return 1;
    }

    if (!strcmp(argv[myoptind], "test")) {
        run_led_test1();

    } else if (!strcmp(argv[myoptind], "on")) {
        led_control.mode = led_control_s::MODE_ON;

    } else if (!strcmp(argv[myoptind], "off")) {
        led_control.mode = led_control_s::MODE_OFF;

    } else if (!strcmp(argv[myoptind], "reset")) {
        led_control.mode = led_control_s::MODE_DISABLED;

    } else if (!strcmp(argv[myoptind], "blink")) {
        led_control.mode = blink_speed;

    } else if (!strcmp(argv[myoptind], "breathe")) {
        led_control.mode = led_control_s::MODE_BREATHE;

    } else if (!strcmp(argv[myoptind], "flash")) {
        led_control.mode = led_control_s::MODE_FLASH;

    } else {
        usage();
        return 1;
    }

    if (led_control.mode != 0xff) {
        publish_led_control(led_control);
    }

    return 0;
}

static void
usage()
{
    PRINT_MODULE_DESCRIPTION(
        R"DESCR_STR(
### Description
Command-line tool to control & test the (external) LED's.

To use it make sure there's a driver running, which handles the led_control uorb topic.

There are different priorities, such that for example one module can set a color with low priority, and another
module can blink N times with high priority, and the LED's automatically return to the lower priority state
after the blinking. The `reset` command can also be used to return to a lower priority.

### Examples
Blink the first LED 5 times in blue:
$ led_control blink -c blue -l 0 -n 5

)DESCR_STR");

    PRINT_MODULE_USAGE_NAME("led_control", "command");

    PRINT_MODULE_USAGE_COMMAND_DESCR("test", "Run a test pattern");
    PRINT_MODULE_USAGE_COMMAND_DESCR("on", "Turn LED on");
    PRINT_MODULE_USAGE_COMMAND_DESCR("off", "Turn LED off");
    PRINT_MODULE_USAGE_COMMAND_DESCR("reset", "Reset LED priority");
    PRINT_MODULE_USAGE_COMMAND_DESCR("blink", "Blink LED N times");
    PRINT_MODULE_USAGE_PARAM_INT('n', 3, 1, 20, "Number of blinks", true);
    PRINT_MODULE_USAGE_PARAM_STRING('s', "normal", "fast|normal|slow", "Set blinking speed", true);
    PRINT_MODULE_USAGE_COMMAND_DESCR("breathe", "Continuously fade LED in & out");
    PRINT_MODULE_USAGE_COMMAND_DESCR("flash", "Two fast blinks and then off with frequency of 1Hz");

    PRINT_MODULE_USAGE_PARAM_COMMENT("The following arguments apply to all of the above commands except for 'test':");
    PRINT_MODULE_USAGE_PARAM_STRING('c', "white", "red|blue|green|yellow|purple|amber|cyan|white", "color", true);
    PRINT_MODULE_USAGE_PARAM_INT('l', -1, 0, 100, "Which LED to control: 0, 1, 2, ... (default=all)", true);
    PRINT_MODULE_USAGE_PARAM_INT('p', 2, 0, 2, "Priority", true);
}