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83 lines
2.8 KiB
83 lines
2.8 KiB
/**************************************************************************** |
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* |
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* Copyright (c) 2016-2020 PX4 Development Team. All rights reserved. |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* 1. Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* 2. Redistributions in binary form must reproduce the above copyright |
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* notice, this list of conditions and the following disclaimer in |
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* the documentation and/or other materials provided with the |
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* distribution. |
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* 3. Neither the name PX4 nor the names of its contributors may be |
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* used to endorse or promote products derived from this software |
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* without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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* |
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****************************************************************************/ |
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#pragma once |
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#include <px4_platform_common/log.h> |
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#include <px4_platform_common/module.h> |
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#include <px4_platform_common/px4_config.h> |
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp> |
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#include <lib/led/led.h> |
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class NavioRGBLed : public ModuleBase<NavioRGBLed>, public px4::ScheduledWorkItem |
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{ |
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public: |
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NavioRGBLed(); |
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~NavioRGBLed() override; |
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/** @see ModuleBase */ |
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static int task_spawn(int argc, char *argv[]); |
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/** @see ModuleBase */ |
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static int custom_command(int argc, char *argv[]); |
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/** @see ModuleBase */ |
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static int print_usage(const char *reason = nullptr); |
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int init(); |
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private: |
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void Run() override; |
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LedController _led_controller; |
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class SysRGBLED |
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{ |
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public: |
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explicit SysRGBLED(const char *path) : _fd(open(path, O_WRONLY)) {} |
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~SysRGBLED() { close(_fd); } |
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bool on() { return (write(_fd, "0", 1) > 0); } |
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bool off() { return (write(_fd, "1", 1) > 0); } |
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private: |
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int _fd{-1}; |
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}; |
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SysRGBLED _ledR{"/sys/class/leds/rgb_led0/brightness"}; |
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SysRGBLED _ledG{"/sys/class/leds/rgb_led1/brightness"}; |
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SysRGBLED _ledB{"/sys/class/leds/rgb_led2/brightness"}; |
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};
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