OP-1302 Add a stub pios_notify API for user interaction/notifications

right now all notifications produces the same output, the DRAW_ATTENTION sequence

flight/libraries/inc/notification.h

@@ -1,32 +1,35 @@
 /**
  ******************************************************************************
  *
- * @file       notification.h  
+ * @file       notification.h
  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
  * @brief      notification library
  *             --
  * @see        The GNU Public License (GPL) Version 3
  *
  *****************************************************************************/
-/* 
- * 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 
+/*
+ * 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 
+ *
+ * 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, write to the Free Software Foundation, Inc., 
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 #ifndef NOTIFICATION_H
 #define NOTIFICATION_H
 
-#define LED_BLINK_PERIOD_MS     200
+// period of each blink phase
+#define LED_BLINK_PERIOD_MS      200
+// Define the pause in half blink periods to be added between phases
+#define LED_PAUSE_BETWEEN_PHASES 3
 
 // update the status snapshot used by notifcations
 void NotificationUpdateStatus();

flight/libraries/notification.c

@@ -1,26 +1,26 @@
 /**
  ******************************************************************************
  *
- * @file       notification.c  
+ * @file       notification.c
  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
- * @brief      brief goes here. 
+ * @brief      notification library.
  *             --
  * @see        The GNU Public License (GPL) Version 3
  *
  *****************************************************************************/
-/* 
- * 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 
+/*
+ * 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 
+ *
+ * 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, write to the Free Software Foundation, Inc., 
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 #include "inc/notification.h"
@@ -28,6 +28,7 @@
 #include <pios_struct_helper.h>
 #include <systemalarms.h>
 #include <flightstatus.h>
+#include <pios_notify.h>
 
 #ifdef PIOS_LED_ALARM
 #define ALARM_LED_ON()  PIOS_LED_On(PIOS_LED_ALARM)
@@ -53,9 +54,9 @@
 
 
 #define BLINK_COUNT(x) \
-    (x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED1 ? 2 : \
-     x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED2 ? 3 : \
-     x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED3 ? 4 : \
+    (x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED1 ? 1 : \
+     x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED2 ? 2 : \
+     x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED3 ? 3 : \
      x == FLIGHTSTATUS_FLIGHTMODE_ALTITUDEHOLD ? 2 : \
      x == FLIGHTSTATUS_FLIGHTMODE_ALTITUDEVARIO ? 2 : \
      x == FLIGHTSTATUS_FLIGHTMODE_VELOCITYCONTROL ? 2 : \
@@ -82,27 +83,31 @@
 static volatile SystemAlarmsAlarmOptions currentAlarmLevel = SYSTEMALARMS_ALARM_OK;
 static volatile FlightStatusData currentFlightStatus;
 static volatile bool started = false;
+static volatile pios_notify_notification nextNotification = NOTIFY_NONE;
 
-void NotificationUpdateStatus(){
+#ifdef PIOS_LED_ALARM
+static bool handleAlarms(uint8_t cycleCount, uint8_t blinkCount);
+#endif // PIOS_LED_ALARM
+static bool handleNotifications(uint8_t cycleCount, pios_notify_notification runningNotification);
+static void handleStatus(uint8_t cycleCount, uint8_t blinkCount);
+
+void NotificationUpdateStatus()
+{
     started = true;
     // get values to be used for led handling
     FlightStatusGet((FlightStatusData *)&currentFlightStatus);
     currentAlarmLevel = AlarmsGetHighestSeverity();
+    if (nextNotification == NOTIFY_NONE) {
+        nextNotification = PIOS_NOTIFY_GetActiveNotification(true);
+    }
 }
 
-void NotificationOnboardLedsRun(){
+void NotificationOnboardLedsRun()
+{
     static portTickType lastRunTimestamp;
-
-    if (!started || (xTaskGetTickCount() - lastRunTimestamp) < (LED_BLINK_PERIOD_MS * portTICK_RATE_MS / 2)) {
-        return;
-    }
-    lastRunTimestamp = xTaskGetTickCount();
-    // the led will show various status information, subdivided in three phases
-    // - Notification
-    // - Alarm
-    // - Flight status
-    // they are shown using the above priority
-    // a phase last exactly 8 cycles (so bit 1<<4 is used to determine if a phase end
+    static uint8_t blinkCount; // number of blinks since phase start
+    static uint8_t cycleCount; // cound the number of cycles (half of a blink)
+    static pios_notify_notification runningNotification = NOTIFY_NONE;
 
     static enum {
         STATUS_NOTIFY,
@@ -111,87 +116,145 @@ void NotificationOnboardLedsRun(){
         STATUS_LENGHT
     } status;
 
-    static uint8_t cycleCount;
-    cycleCount++;
-    // a blink last 2 cycles.
-    static uint8_t blinkCount;
-    blinkCount = (cycleCount & 0xF) >> 1;
 
-    if (cycleCount & 0x08) {
-        // add a short pause between each phase
-        if (cycleCount > 0xA) {
-            cycleCount = 0xFF;
-            status     = (status + 1) % STATUS_LENGHT;
-        }
-        HEARTBEAT_LED_OFF();
-        ALARM_LED_OFF();
+    if (!started || (xTaskGetTickCount() - lastRunTimestamp) < (LED_BLINK_PERIOD_MS * portTICK_RATE_MS / 2)) {
         return;
     }
 
+    lastRunTimestamp = xTaskGetTickCount();
+
+    // the led will show various status information, subdivided in three phases
+    // - Notification
+    // - Alarm
+    // - Flight status
+    // they are shown using the above priority
+    // a phase last exactly 8 cycles (so bit 1<<4 is used to determine if a phase end
+
+    cycleCount++;
+
+    // Notifications are "modal" to other statuses so they takes precedence
+    if (status != STATUS_NOTIFY && nextNotification != NOTIFY_NONE) {
+        // Force a notification status
+        runningNotification = nextNotification;
+        nextNotification    = NOTIFY_NONE;
+
+        status     = STATUS_NOTIFY;
+        cycleCount = 0; // instantly start a notify cycle
+    }
+
+    // check if a phase has just finished
+    if (cycleCount & 0x08) {
+        // add a short pause between each phase
+        if (cycleCount > 0x8 + LED_PAUSE_BETWEEN_PHASES) {
+            // ready to start a new phase
+            cycleCount = 0x0;
+
+            // Notification has been already shown, so clear the running one
+            if (status == STATUS_NOTIFY) {
+                runningNotification = NOTIFY_NONE;
+            }
+            status = (status + 1) % STATUS_LENGHT;
+        } else {
+            HEARTBEAT_LED_OFF();
+            ALARM_LED_OFF();
+            return;
+        }
+    }
+
+    // a blink last 2 cycles.
+    blinkCount = (cycleCount & 0xF) >> 1;
+
     if (status == STATUS_NOTIFY) {
-        // Not implemented yet
-        status++;
+        if (!handleNotifications(cycleCount, runningNotification)) {
+            status++;
+        }
     }
 
     // Handles Alarm display
     if (status == STATUS_ALARM) {
-#if defined(PIOS_LED_ALARM)
-        if (currentAlarmLevel > SYSTEMALARMS_ALARM_OK) {
-            if (currentAlarmLevel == SYSTEMALARMS_ALARM_CRITICAL) {
-                // Slow blink
-                ALARM_LED_OFF();
-                if (cycleCount & 0x4) {
-                    ALARM_LED_OFF();
-                } else {
-                    ALARM_LED_ON();
-                }
-            } else {
-                if ((blinkCount < (ALARM_BLINK_COUNT(currentAlarmLevel))) &&
-                    (cycleCount & 0x1)) {
-                    ALARM_LED_ON();
-                } else {
-                    ALARM_LED_OFF();
-                }
-            }
-        } else {
+#ifdef PIOS_LED_ALARM
+        if (!handleAlarms(cycleCount, blinkCount)) {
             status++;
         }
-#else /* if defined(PIOS_LED_ALARM) */
-        // no alarms, handle next phase
+#else
         status++;
-        // #endif
-#endif /* PIOS_LED_ALARM */
+#endif // PIOS_LED_ALARM
     }
-
     // **** Handles flightmode display
     if (status == STATUS_FLIGHTMODE) {
-        uint8_t flightmode = currentFlightStatus.FlightMode;
+        handleStatus(cycleCount, blinkCount);
+    }
+}
 
-        // Flash the heartbeat LED
-#if defined(PIOS_LED_HEARTBEAT)
-
-        if (currentFlightStatus.Armed == FLIGHTSTATUS_ARMED_DISARMED) {
+#if defined(PIOS_LED_ALARM)
+static bool handleAlarms(uint8_t cycleCount, uint8_t blinkCount)
+{
+    if (currentAlarmLevel > SYSTEMALARMS_ALARM_OK) {
+        if (currentAlarmLevel == SYSTEMALARMS_ALARM_CRITICAL) {
             // Slow blink
-            if (blinkCount < 3) {
-                HEARTBEAT_LED_ON();
+            ALARM_LED_OFF();
+            if (cycleCount & 0x4) {
+                ALARM_LED_OFF();
             } else {
-                HEARTBEAT_LED_OFF();
+                ALARM_LED_ON();
             }
         } else {
-            if ((blinkCount < BLINK_COUNT(flightmode)) &&
+            if ((blinkCount < (ALARM_BLINK_COUNT(currentAlarmLevel))) &&
                 (cycleCount & 0x1)) {
-                // red led will be active active in last or last two (4 blinks case) blinks
-                if (BLINK_RED(flightmode) &&
-                    ((blinkCount == BLINK_COUNT(flightmode) - 1) ||
-                     blinkCount > 1)) {
-                    ALARM_LED_ON();
-                }
-                HEARTBEAT_LED_ON();
+                ALARM_LED_ON();
             } else {
-                HEARTBEAT_LED_OFF();
                 ALARM_LED_OFF();
             }
         }
+        return true;
+    } else {
+        return false;
+    }
+}
+#endif /* PIOS_LED_ALARM */
+
+
+static bool handleNotifications(uint8_t cycleCount, pios_notify_notification runningNotification)
+{
+    if (runningNotification == NOTIFY_NONE) {
+        return false;
+    }
+    if (cycleCount & 0x1) {
+        ALARM_LED_OFF();
+        HEARTBEAT_LED_ON();
+    } else {
+        ALARM_LED_ON();
+        HEARTBEAT_LED_OFF();
+    }
+    return true;
+}
+
+static void handleStatus(uint8_t cycleCount, uint8_t blinkCount)
+{
+    // Flash the heartbeat LED
+#if defined(PIOS_LED_HEARTBEAT)
+    uint8_t flightmode = currentFlightStatus.FlightMode;
+    if (currentFlightStatus.Armed == FLIGHTSTATUS_ARMED_DISARMED) {
+        // Slow blink
+        if (blinkCount < 3) {
+            HEARTBEAT_LED_ON();
+        } else {
+            HEARTBEAT_LED_OFF();
+        }
+    } else {
+        if ((blinkCount < BLINK_COUNT(flightmode)) &&
+            (cycleCount & 0x1)) {
+            // red led will be active active in last or last two (4 blinks case) blinks
+            if (BLINK_RED(flightmode) &&
+                ((blinkCount == BLINK_COUNT(flightmode) - 1) ||
+                 blinkCount > 1)) {
+                ALARM_LED_ON();
+            }
+            HEARTBEAT_LED_ON();
+        } else {
+            HEARTBEAT_LED_OFF();
+            ALARM_LED_OFF();
+        }
     }
 #endif /* PIOS_LED_HEARTBEAT */
 }

flight/modules/System/systemmod.c

@@ -72,7 +72,7 @@
 #endif
 
 // Private constants
-#define SYSTEM_UPDATE_PERIOD_MS 500
+#define SYSTEM_UPDATE_PERIOD_MS 250
 
 #if defined(PIOS_SYSTEM_STACK_SIZE)
 #define STACK_SIZE_BYTES        PIOS_SYSTEM_STACK_SIZE
@@ -80,7 +80,7 @@
 #define STACK_SIZE_BYTES        1024
 #endif
 
-#define TASK_PRIORITY (tskIDLE_PRIORITY + 1)
+#define TASK_PRIORITY           (tskIDLE_PRIORITY + 1)
 
 // Private types
 
@@ -620,34 +620,34 @@ void vApplicationIdleHook(void)
  * Called by the RTOS when a stack overflow is detected.
  */
 #define DEBUG_STACK_OVERFLOW 0
-    void vApplicationStackOverflowHook(__attribute__((unused)) xTaskHandle *pxTask,
-                                       __attribute__((unused)) signed portCHAR *pcTaskName)
-    {
-        stackOverflow = STACKOVERFLOW_CRITICAL;
+void vApplicationStackOverflowHook(__attribute__((unused)) xTaskHandle *pxTask,
+                                   __attribute__((unused)) signed portCHAR *pcTaskName)
+{
+    stackOverflow = STACKOVERFLOW_CRITICAL;
 #if DEBUG_STACK_OVERFLOW
-        static volatile bool wait_here = true;
-        while (wait_here) {
-            ;
-        }
-        wait_here = true;
-#endif
+    static volatile bool wait_here = true;
+    while (wait_here) {
+        ;
     }
+    wait_here = true;
+#endif
+}
 
 /**
  * Called by the RTOS when a malloc call fails.
  */
 #define DEBUG_MALLOC_FAILURES 0
-    void vApplicationMallocFailedHook(void)
-    {
-        mallocFailed = true;
+void vApplicationMallocFailedHook(void)
+{
+    mallocFailed = true;
 #if DEBUG_MALLOC_FAILURES
-        static volatile bool wait_here = true;
-        while (wait_here) {
-            ;
-        }
-        wait_here = true;
-#endif
+    static volatile bool wait_here = true;
+    while (wait_here) {
+        ;
     }
+    wait_here = true;
+#endif
+}
 
 /**
  * @}

flight/pios/common/pios_notify.c

@@ -0,0 +1,49 @@
+/**
+ ******************************************************************************
+ *
+ * @file       pios_notify.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
+ * @brief      Handles user notifications.
+ *             --
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * 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, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include "pios_notify.h"
+
+static volatile pios_notify_notification currentNotification = NOTIFY_NONE;
+static volatile pios_notify_priority currentPriority;
+
+
+void PIOS_NOTIFY_StartNotification(pios_notify_notification notification, pios_notify_priority priority)
+{
+    if (currentNotification == NOTIFY_NONE || currentPriority < priority) {
+        currentPriority     = priority;
+        currentNotification = notification;
+    }
+}
+
+pios_notify_notification PIOS_NOTIFY_GetActiveNotification(bool clear)
+{
+    pios_notify_notification ret = currentNotification;
+
+    if (clear && ret != NOTIFY_NONE) {
+        currentNotification = NOTIFY_NONE;
+    }
+    return ret;
+}

flight/pios/inc/pios_notify.h

@@ -0,0 +1,58 @@
+/**
+ ******************************************************************************
+ *
+ * @file       pios_notify.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
+ * @brief      Handles user notifications.
+ *             --
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * 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, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+#ifndef PIOS_NOTIFY_H_
+#define PIOS_NOTIFY_H_
+#include <stdbool.h>
+
+typedef enum {
+    NOTIFY_NONE = 0,
+    NOTIFY_OK,
+    NOTIFY_NOK,
+    NOTIFY_DRAW_ATTENTION
+} pios_notify_notification;
+
+typedef enum {
+    NOTIFY_PRIORITY_CRITICAL = 2,
+    NOTIFY_PRIORITY_REGULAR  = 1,
+    NOTIFY_PRIORITY_LOW = 0,
+} pios_notify_priority;
+
+/**
+ * start a new notification. If a notification is active it will be overwritten if its priority is lower than the new one.
+ * The new will be discarded otherwise
+ * @param notification kind of notification
+ * @param priority priority of the new notification
+ */
+void PIOS_NOTIFY_StartNotification(pios_notify_notification notification, pios_notify_priority priority);
+
+/**
+ * retrieve any active notification
+ * @param clear
+ * @return
+ */
+pios_notify_notification PIOS_NOTIFY_GetActiveNotification(bool clear);
+
+#endif /* PIOS_NOTIFY_H_ */

flight/targets/boards/simposix/firmware/Makefile

@@ -104,6 +104,8 @@ SRC += $(PIOSCORECOMMON)/pios_dosfs_logfs.c
 SRC += $(PIOSCORECOMMON)/pios_debuglog.c
 SRC += $(PIOSCORECOMMON)/pios_callbackscheduler.c
 SRC += $(PIOSCORECOMMON)/pios_deltatime.c
+SRC += $(PIOSCORECOMMON)/pios_notify.c
+
 
 ## PIOS Hardware
 include $(PIOS)/posix/library.mk

make/apps-defs.mk

@@ -99,7 +99,7 @@ SRC += $(PIOSCOMMON)/pios_usb_util.c
 ## PIOS system code
 SRC += $(PIOSCOMMON)/pios_task_monitor.c
 SRC += $(PIOSCOMMON)/pios_callbackscheduler.c
-
+SRC += $(PIOSCOMMON)/pios_notify.c
 ## Misc library functions
 SRC += $(FLIGHTLIB)/fifo_buffer.c
 SRC += $(FLIGHTLIB)/sanitycheck.c