px4_autopilot/boards/emlid/navio2/navio_rgbled/NavioRGBLed.cpp

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 * modification, are permitted provided that the following conditions
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#include "NavioRGBLed.hpp"

NavioRGBLed::NavioRGBLed() :
	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::lp_default)
{
};

NavioRGBLed::~NavioRGBLed()
{
	ScheduleClear();

	_ledR.off();
	_ledG.off();
	_ledB.off();
}

int NavioRGBLed::init()
{
	_ledR.off();
	_ledG.off();
	_ledB.off();

	// kick off work queue
	ScheduleNow();

	return PX4_OK;
}

void NavioRGBLed::Run()
{
	LedControlData led_control_data{};

	if (_led_controller.update(led_control_data) == 1) {
		switch (led_control_data.leds[0].color) {
		case led_control_s::COLOR_RED:
			_ledR.on();
			_ledG.off();
			_ledB.off();
			break;

		case led_control_s::COLOR_GREEN:
			_ledR.off();
			_ledG.on();
			_ledB.off();
			break;

		case led_control_s::COLOR_BLUE:
			_ledR.off();
			_ledG.off();
			_ledB.on();
			break;

		case led_control_s::COLOR_AMBER: // make it the same as yellow
		case led_control_s::COLOR_YELLOW:
			_ledR.on();
			_ledG.on();
			_ledB.off();
			break;

		case led_control_s::COLOR_PURPLE:
			_ledR.on();
			_ledG.off();
			_ledB.on();
			break;

		case led_control_s::COLOR_CYAN:
			_ledR.off();
			_ledG.on();
			_ledB.on();
			break;

		case led_control_s::COLOR_WHITE:
			_ledR.on();
			_ledG.on();
			_ledB.on();
			break;

		default: // led_control_s::COLOR_OFF
			_ledR.off();
			_ledG.off();
			_ledB.off();
			break;
		}
	}

	/* re-queue ourselves to run again later */
	ScheduleDelayed(_led_controller.maximum_update_interval());
}

int NavioRGBLed::custom_command(int argc, char *argv[])
{
	return print_usage("unknown command");
}

int NavioRGBLed::task_spawn(int argc, char *argv[])
{
	NavioRGBLed *instance = new NavioRGBLed();

	if (instance) {
		_object.store(instance);
		_task_id = task_id_is_work_queue;

		if (instance->init() == PX4_OK) {
			return PX4_OK;
		}

	} else {
		PX4_ERR("alloc failed");
	}

	delete instance;
	_object.store(nullptr);
	_task_id = -1;

	return PX4_ERROR;
}

int NavioRGBLed::print_usage(const char *reason)
{
	if (reason) {
		PX4_WARN("%s\n", reason);
	}

	PRINT_MODULE_DESCRIPTION(
		R"DESCR_STR(
### Description
Emlid Navio2 RGB LED driver.

)DESCR_STR");

	PRINT_MODULE_USAGE_NAME("navio_rgbled", "driver");
	PRINT_MODULE_USAGE_COMMAND("start");
	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();

	return 0;
}

extern "C" __EXPORT int navio_rgbled_main(int argc, char *argv[])
{
	return NavioRGBLed::main(argc, argv);
}