text: /****************************************************************************
   *
   *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
   *   Author: Anton Babushkin <anton.babushkin@me.com>
   *
   * Redistribution and use in source and binary forms, with or without
   * modification, are permitted provided that the following conditions
   * are met:
   *
   * 1. Redistributions of source code must retain the above copyright
   *    notice, this list of conditions and the following disclaimer.
   * 2. Redistributions in binary form must reproduce the above copyright
   *    notice, this list of conditions and the following disclaimer in
   *    the documentation and/or other materials provided with the
   *    distribution.
   * 3. Neither the name PX4 nor the names of its contributors may be
   *    used to endorse or promote products derived from this software
   *    without specific prior written permission.
   *
   * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
   * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
   * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
   * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
   * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
   * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
   * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
   * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
   * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
   * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
   * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   * POSSIBILITY OF SUCH DAMAGE.
   *
   ****************************************************************************/
  
  /**
   * @file gpio_led.c
   *
   * Status LED via GPIO driver.
   *
   * @author Anton Babushkin <anton.babushkin@me.com>
   */
  
  #include <stdio.h>
  #include <stdlib.h>
  #include <string.h>
  #include <fcntl.h>
  #include <stdbool.h>
  #include <nuttx/wqueue.h>
  #include <nuttx/clock.h>
  #include <systemlib/systemlib.h>
  #include <systemlib/err.h>
  #include <uORB/uORB.h>
  #include <uORB/topics/vehicle_status.h>
  #include <poll.h>
  #include <drivers/drv_gpio.h>
  #include <modules/px4iofirmware/protocol.h>
  
  struct gpio_led_s {
  	struct work_s work;
  	int gpio_fd;
  	bool use_io;
  	int pin;
  	struct vehicle_status_s status;
  	int vehicle_status_sub;
  	bool led_state;
  	int counter;
  };
  
  static struct gpio_led_s *gpio_led_data;
  static bool gpio_led_started = false;
  
  __EXPORT int gpio_led_main(int argc, char *argv[]);
  
  void gpio_led_start(FAR void *arg);
  
  void gpio_led_cycle(FAR void *arg);
  
  int gpio_led_main(int argc, char *argv[])
  {
  	if (argc < 2) {
  #ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
  		errx(1, "usage: gpio_led {start|stop} [-p <1|2|a1|a2|r1|r2>]\n"
  		     "\t-p\tUse pin:\n"
  		     "\t\t1\tPX4FMU GPIO_EXT1 (default)\n"
  		     "\t\t2\tPX4FMU GPIO_EXT2\n"
  		     "\t\ta1\tPX4IO ACC1\n"
  		     "\t\ta2\tPX4IO ACC2\n"
  		     "\t\tr1\tPX4IO RELAY1\n"
  		     "\t\tr2\tPX4IO RELAY2"
  		    );
  #endif
  #ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
  		errx(1, "usage: gpio_led {start|stop} [-p <n>]\n"
  		     "\t-p <n>\tUse specified AUX OUT pin number (default: 1)"
  		    );
  #endif
  
  	} else {
  
  		if (!strcmp(argv[1], "start")) {
  			if (gpio_led_started) {
  				errx(1, "already running");
  			}
  
  			bool use_io = false;
  
  			/* by default use GPIO_EXT_1 on FMUv1 and GPIO_SERVO_1 on FMUv2 */
  			int pin = 1;
  
  			/* pin name to display */
  #ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
  			char *pin_name = "PX4FMU GPIO_EXT1";
  #endif
  #ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
  			char pin_name[] = "AUX OUT 1";
  #endif
  
  			if (argc > 2) {
  				if (!strcmp(argv[2], "-p")) {
  #ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
  
  					if (!strcmp(argv[3], "1")) {
  						use_io = false;
  						pin = GPIO_EXT_1;
  						pin_name = "PX4FMU GPIO_EXT1";
  
  					} else if (!strcmp(argv[3], "2")) {
  						use_io = false;
  						pin = GPIO_EXT_2;
  						pin_name = "PX4FMU GPIO_EXT2";
  
  					} else if (!strcmp(argv[3], "a1")) {
  						use_io = true;
  						pin = PX4IO_P_SETUP_RELAYS_ACC1;
  						pin_name = "PX4IO ACC1";
  
  					} else if (!strcmp(argv[3], "a2")) {
  						use_io = true;
  						pin = PX4IO_P_SETUP_RELAYS_ACC2;
  						pin_name = "PX4IO ACC2";
  
  					} else if (!strcmp(argv[3], "r1")) {
  						use_io = true;
  						pin = PX4IO_P_SETUP_RELAYS_POWER1;
  						pin_name = "PX4IO RELAY1";
  
  					} else if (!strcmp(argv[3], "r2")) {
  						use_io = true;
  						pin = PX4IO_P_SETUP_RELAYS_POWER2;
  						pin_name = "PX4IO RELAY2";
  
  					} else {
  						errx(1, "unsupported pin: %s", argv[3]);
  					}
  
  #endif
  #ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
  					unsigned int n = strtoul(argv[3], NULL, 10);
  
  					if (n >= 1 && n <= 6) {
  						use_io = false;
  						pin = 1 << (n - 1);
  						snprintf(pin_name, sizeof(pin_name), "AUX OUT %d", n);
  
  					} else {
  						errx(1, "unsupported pin: %s", argv[3]);
  					}
  
  #endif
  				}
  			}
  
  			gpio_led_data = malloc(sizeof(struct gpio_led_s));
  			memset(gpio_led_data, 0, sizeof(struct gpio_led_s));
  			gpio_led_data->use_io = use_io;
  			gpio_led_data->pin = pin;
  			int ret = work_queue(LPWORK, &(gpio_led_data->work), gpio_led_start, gpio_led_data, 0);
  
  			if (ret != 0) {
  				errx(1, "failed to queue work: %d", ret);
  
  			} else {
  				gpio_led_started = true;
  				warnx("start, using pin: %s", pin_name);
  				exit(0);
  			}
  		} else if (!strcmp(argv[1], "stop")) {
  			if (gpio_led_started) {
  				gpio_led_started = false;
  				warnx("stop");
  				exit(0);
  			} else {
  				errx(1, "not running");
  			}
  
  		} else {
  			errx(1, "unrecognized command '%s', only supporting 'start' or 'stop'", argv[1]);
  		}
  	}
  }
  
  void gpio_led_start(FAR void *arg)
  {
  	FAR struct gpio_led_s *priv = (FAR struct gpio_led_s *)arg;
  
  	char *gpio_dev;
  
  	if (priv->use_io) {
  		gpio_dev = PX4IO_DEVICE_PATH;
  
  	} else {
  		gpio_dev = PX4FMU_DEVICE_PATH;
  	}
  
  	/* open GPIO device */
  	priv->gpio_fd = open(gpio_dev, 0);
  
  	if (priv->gpio_fd < 0) {
  		// TODO find way to print errors
  		//printf("gpio_led: GPIO device \"%s\" open fail\n", gpio_dev);
  		gpio_led_started = false;
  		return;
  	}
  
  	/* configure GPIO pin */
  	/* px4fmu only, px4io doesn't support GPIO_SET_OUTPUT and will ignore */
  	ioctl(priv->gpio_fd, GPIO_SET_OUTPUT, priv->pin);
  
  	/* initialize vehicle status structure */
  	memset(&priv->status, 0, sizeof(priv->status));
  
  	/* subscribe to vehicle status topic */
  	priv->vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
  
  	/* add worker to queue */
  	int ret = work_queue(LPWORK, &priv->work, gpio_led_cycle, priv, 0);
  
  	if (ret != 0) {
  		// TODO find way to print errors
  		//printf("gpio_led: failed to queue work: %d\n", ret);
  		gpio_led_started = false;
  		return;
  	}
  }
  
  void gpio_led_cycle(FAR void *arg)
  {
  	FAR struct gpio_led_s *priv = (FAR struct gpio_led_s *)arg;
  
  	/* check for status updates*/
  	bool updated;
  	orb_check(priv->vehicle_status_sub, &updated);
  
  	if (updated) {
  		orb_copy(ORB_ID(vehicle_status), priv->vehicle_status_sub, &priv->status);
  	}
  
  	/* select pattern for current status */
  	int pattern = 0;
  
  	if (priv->status.arming_state == ARMING_STATE_ARMED_ERROR) {
  		pattern = 0x2A;	// *_*_*_ fast blink (armed, error)
  
  	} else if (priv->status.arming_state == ARMING_STATE_ARMED) {
  		if (priv->status.battery_warning == VEHICLE_BATTERY_WARNING_NONE && !priv->status.failsafe) {
  			pattern = 0x3f;	// ****** solid (armed)
  
  		} else {
  			pattern = 0x3e;	// *****_ slow blink (armed, battery low or failsafe)
  		}
  
  	} else if (priv->status.arming_state == ARMING_STATE_STANDBY) {
  		pattern = 0x38;	// ***___ slow blink (disarmed, ready)
  
  	} else if (priv->status.arming_state == ARMING_STATE_STANDBY_ERROR) {
  		pattern = 0x28;	// *_*___ slow double blink (disarmed, error)
  
  	}
  
  	/* blink pattern */
  	bool led_state_new = (pattern & (1 << priv->counter)) != 0;
  
  	if (led_state_new != priv->led_state) {
  		priv->led_state = led_state_new;
  
  		if (led_state_new) {
  			ioctl(priv->gpio_fd, GPIO_SET, priv->pin);
  
  		} else {
  			ioctl(priv->gpio_fd, GPIO_CLEAR, priv->pin);
  		}
  	}
  
  	priv->counter++;
  
  	if (priv->counter > 5) {
  		priv->counter = 0;
  	}
  
  	/* repeat cycle at 5 Hz */
  	if (gpio_led_started) {
  		work_queue(LPWORK, &priv->work, gpio_led_cycle, priv, USEC2TICK(200000));
  
  	} else {
  		/* switch off LED on stop */
  		ioctl(priv->gpio_fd, GPIO_CLEAR, priv->pin);
  	}
  }
  