AP_Notify: Reduce flash consumption, remove unneeded middleware classes

libraries/AP_Notify/AP_Notify.cpp

@@ -26,7 +26,6 @@
 #include "ToneAlarm_Linux.h"
 #include "ToneAlarm_ChibiOS.h"
 #include "ToneAlarm_PX4.h"
-#include "ToshibaLED.h"
 #include "ToshibaLED_I2C.h"
 #include "VRBoard_LED.h"
 #include "DiscreteRGBLed.h"
@@ -77,12 +76,14 @@ const AP_Param::GroupInfo AP_Notify::var_info[] = {
     // @User: Advanced
     AP_GROUPINFO("DISPLAY_TYPE", 3, AP_Notify, _display_type, 0),
 
+#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 && CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_PX4_V3
     // @Param: OREO_THEME
     // @DisplayName: OreoLED Theme
     // @Description: Enable/Disable Solo Oreo LED driver, 0 to disable, 1 for Aircraft theme, 2 for Rover theme
     // @Values: 0:Disabled,1:Aircraft,2:Rover
     // @User: Advanced
     AP_GROUPINFO("OREO_THEME", 4, AP_Notify, _oreo_theme, 0),
+#endif // CONFIG_HAL_BOARD == HAL_BOARD_PX4 && CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_PX4_V3
 
 #if !defined(HAL_BUZZER_PIN)
     // @Param: BUZZ_PIN
@@ -265,11 +266,6 @@ void AP_Notify::init(bool enable_external_leds)
     memset(&AP_Notify::flags, 0, sizeof(AP_Notify::flags));
     memset(&AP_Notify::events, 0, sizeof(AP_Notify::events));
 
-    // clear flight mode string and text buffer
-    memset(_flight_mode_str, 0, sizeof(_flight_mode_str));
-    memset(_send_text, 0, sizeof(_send_text));
-    _send_text_updated_millis = 0;
-
     AP_Notify::flags.external_leds = enable_external_leds;
 
     for (uint8_t i = 0; i < _num_devices; i++) {

libraries/AP_Notify/Buzzer.h

@@ -27,12 +27,7 @@ class Buzzer: public NotifyDevice
 {
 public:
     /// Constructor
-    Buzzer() :
-        _counter(0),
-        _pattern(NONE),
-        _pattern_counter(0),
-        _arming_buzz_start_ms(0)
-    {}
+    Buzzer() {}
 
     /// init - initialise the buzzer
     bool init(void);

libraries/AP_Notify/ExternalLED.h

@@ -28,7 +28,7 @@ class ExternalLED: public NotifyDevice
 {
 public:
     // constructor
-    ExternalLED() : _counter(0), _counter2(0), _pattern(NONE), _pattern_counter(0) {}
+    ExternalLED() : _pattern(NONE) {}
 
     // initialise the LED driver
     bool init(void);

libraries/AP_Notify/NavioLED.cpp

@@ -1,29 +0,0 @@
-/*
-   NavioLED driver
-*/
-
-/*
-   This program is free software: you can redistribute it and/or modify
-   it under the terms of the GNU General Public License as published by
-   the Free Software Foundation, either version 3 of the License, or
-   (at your option) any later version.
-
-   This program is distributed in the hope that it will be useful,
-   but WITHOUT ANY WARRANTY; without even the implied warranty of
-   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-   GNU General Public License for more details.
-
-*/
-
-#include "NavioLED.h"
-
-#define NAVIO_LED_BRIGHT 0x0    // full brightness
-#define NAVIO_LED_MEDIUM 0x7F    // medium brightness
-#define NAVIO_LED_DIM    0x4F    // dim brightness
-#define NAVIO_LED_OFF    0xFF    // off
-
-NavioLED::NavioLED() : 
-    RGBLed(NAVIO_LED_OFF, NAVIO_LED_BRIGHT, NAVIO_LED_MEDIUM, NAVIO_LED_DIM)
-{
-
-}

libraries/AP_Notify/NavioLED.h

@@ -1,27 +0,0 @@
-/*
- *  AP_Notify Library. 
- * based upon a prototype library by David "Buzz" Bussenschutt.
- */
-
-/*
-   This program is free software: you can redistribute it and/or modify
-   it under the terms of the GNU General Public License as published by
-   the Free Software Foundation, either version 3 of the License, or
-   (at your option) any later version.
-
-   This program is distributed in the hope that it will be useful,
-   but WITHOUT ANY WARRANTY; without even the implied warranty of
-   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-   GNU General Public License for more details.
-
-   You should have received a copy of the GNU General Public License
-   along with this program.  If not, see <http://www.gnu.org/licenses/>.
- */
-#pragma once
-
-#include "RGBLed.h"
-
-class NavioLED: public RGBLed {
-public:
-    NavioLED();
-};

libraries/AP_Notify/NavioLED_I2C.cpp

@@ -19,11 +19,21 @@
 
 #include <AP_HAL/AP_HAL.h>
 
+#define NAVIO_LED_BRIGHT 0x0    // full brightness
+#define NAVIO_LED_MEDIUM 0x7F    // medium brightness
+#define NAVIO_LED_DIM    0x4F    // dim brightness
+#define NAVIO_LED_OFF    0xFF    // off
+
 #define PCA9685_ADDRESS 0x40
 #define PCA9685_PWM 0x6
 
 extern const AP_HAL::HAL& hal;
 
+NavioLED_I2C::NavioLED_I2C() : 
+    RGBLed(NAVIO_LED_OFF, NAVIO_LED_BRIGHT, NAVIO_LED_MEDIUM, NAVIO_LED_DIM)
+{
+}
+
 bool NavioLED_I2C::hw_init()
 {
     _dev = hal.i2c_mgr->get_device(1, PCA9685_ADDRESS);

libraries/AP_Notify/NavioLED_I2C.h

@@ -16,11 +16,13 @@
  */
 #pragma once
 
-#include "NavioLED.h"
 #include <AP_HAL/I2CDevice.h>
+#include "RGBLed.h"
 
-class NavioLED_I2C : public NavioLED
+class NavioLED_I2C : public RGBLed
 {
+public:
+    NavioLED_I2C(void);
 protected:
     bool hw_init(void) override;
     bool hw_set_rgb(uint8_t r, uint8_t g, uint8_t b) override;

libraries/AP_Notify/OreoLED_PX4.cpp

@@ -44,11 +44,7 @@ extern const AP_HAL::HAL& hal;
 
 // constructor
 OreoLED_PX4::OreoLED_PX4(uint8_t theme): NotifyDevice(),
-    _overall_health(false),
     _oreoled_fd(-1),
-    _send_required(false),
-    _state_desired_semaphore(false),
-    _pattern_override(0),
     _oreo_theme(theme)
 {
     // initialise desired and sent state

libraries/AP_Notify/RGBLed.cpp

@@ -24,15 +24,6 @@
 extern const AP_HAL::HAL& hal;
 
 RGBLed::RGBLed(uint8_t led_off, uint8_t led_bright, uint8_t led_medium, uint8_t led_dim):
-    counter(0),
-    step(0),
-    _healthy(false),
-    _red_des(0),
-    _green_des(0),
-    _blue_des(0),
-    _red_curr(0),
-    _green_curr(0),
-    _blue_curr(0),
     _led_off(led_off),
     _led_bright(led_bright),
     _led_medium(led_medium),

libraries/AP_Notify/ToshibaLED.cpp

@@ -1,31 +0,0 @@
-/*
-   ToshibaLED driver
-*/
-
-/*
-   This program is free software: you can redistribute it and/or modify
-   it under the terms of the GNU General Public License as published by
-   the Free Software Foundation, either version 3 of the License, or
-   (at your option) any later version.
-
-   This program is distributed in the hope that it will be useful,
-   but WITHOUT ANY WARRANTY; without even the implied warranty of
-   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-   GNU General Public License for more details.
-
-   You should have received a copy of the GNU General Public License
-   along with this program.  If not, see <http://www.gnu.org/licenses/>.
- */
-
-#include "ToshibaLED.h"
-
-#define TOSHIBA_LED_BRIGHT  0xFF    // full brightness
-#define TOSHIBA_LED_MEDIUM  0x80    // medium brightness
-#define TOSHIBA_LED_DIM     0x11    // dim
-#define TOSHIBA_LED_OFF     0x00    // off
-
-ToshibaLED::ToshibaLED(): 
-    RGBLed(TOSHIBA_LED_OFF, TOSHIBA_LED_BRIGHT, TOSHIBA_LED_MEDIUM, TOSHIBA_LED_DIM)
-{
-
-}

libraries/AP_Notify/ToshibaLED.h

@@ -1,27 +0,0 @@
-/*
- *  AP_Notify Library.
- * based upon a prototype library by David "Buzz" Bussenschutt.
- */
-
-/*
-   This program is free software: you can redistribute it and/or modify
-   it under the terms of the GNU General Public License as published by
-   the Free Software Foundation, either version 3 of the License, or
-   (at your option) any later version.
-
-   This program is distributed in the hope that it will be useful,
-   but WITHOUT ANY WARRANTY; without even the implied warranty of
-   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-   GNU General Public License for more details.
-
-   You should have received a copy of the GNU General Public License
-   along with this program.  If not, see <http://www.gnu.org/licenses/>.
- */
-#pragma once
-
-#include "RGBLed.h"
-
-class ToshibaLED: public RGBLed {
-public:
-    ToshibaLED();
-};

libraries/AP_Notify/ToshibaLED_I2C.cpp

@@ -26,6 +26,11 @@
 
 extern const AP_HAL::HAL& hal;
 
+#define TOSHIBA_LED_BRIGHT  0xFF    // full brightness
+#define TOSHIBA_LED_MEDIUM  0x80    // medium brightness
+#define TOSHIBA_LED_DIM     0x11    // dim
+#define TOSHIBA_LED_OFF     0x00    // off
+
 #define TOSHIBA_LED_I2C_ADDR 0x55    // default I2C bus address
 
 #define TOSHIBA_LED_PWM0    0x01    // pwm0 register
@@ -34,7 +39,7 @@ extern const AP_HAL::HAL& hal;
 #define TOSHIBA_LED_ENABLE  0x04    // enable register
 
 ToshibaLED_I2C::ToshibaLED_I2C(uint8_t bus)
-    : ToshibaLED()
+    : RGBLed(TOSHIBA_LED_OFF, TOSHIBA_LED_BRIGHT, TOSHIBA_LED_MEDIUM, TOSHIBA_LED_DIM)
     , _bus(bus)
 {
 }

libraries/AP_Notify/ToshibaLED_I2C.h

@@ -17,9 +17,9 @@
 #pragma once
 
 #include <AP_HAL/I2CDevice.h>
-#include "ToshibaLED.h"
+#include "RGBLed.h"
 
-class ToshibaLED_I2C : public ToshibaLED
+class ToshibaLED_I2C : public RGBLed
 {
 public:
     ToshibaLED_I2C(uint8_t bus);