Add support for Green/Yellow status LEDs, like is used on some Limelights #2287
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| Original file line number | Diff line number | Diff line change |
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@@ -5,6 +5,7 @@ | |
| common-errors | ||
| logging | ||
| status-leds | ||
| camera-troubleshooting | ||
| networking-troubleshooting | ||
| unix-commands | ||
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,92 @@ | ||
| --- | ||
| myst: | ||
| substitutions: | ||
| led_loader: | | ||
| ```{image} images/led.svg | ||
| :height: 0 | ||
| ``` | ||
| led_green: | | ||
| ```{raw} html | ||
| <object data="../../_images/led.svg"> | ||
| <param name="onColor" value="limegreen"/> | ||
| </object> | ||
| ``` | ||
| led_solid_blue: | | ||
| ```{raw} html | ||
| <object data="../../_images/led.svg"> | ||
| <param name="onColor" value="blue"/> | ||
| <param name="onTime" value="indefinite"/> | ||
| </object> | ||
| ``` | ||
| led_yellow: | | ||
| ```{raw} html | ||
| <object data="../../_images/led.svg"> | ||
| <param name="onColor" value="yellow"/> | ||
| </object> | ||
| ``` | ||
| led_blue: | | ||
| ```{raw} html | ||
| <object data="../../_images/led.svg"> | ||
| <param name="onColor" value="blue"/> | ||
| </object> | ||
| ``` | ||
| led_red: | | ||
| ```{raw} html | ||
| <object data="../../_images/led.svg"> | ||
| <param name="onColor" value="red"/> | ||
| </object> | ||
| ``` | ||
| led_off: | | ||
| ```{raw} html | ||
| <object data="../../_images/led.svg"> | ||
| <param name="onColor" value="transparent"/> | ||
| <param name="onTime" value="indefinite"/> | ||
| </object> | ||
| ``` | ||
| led_fast_green: | | ||
| ```{raw} html | ||
| <object data="../../_images/led.svg"> | ||
| <param name="onColor" value="limegreen"/> | ||
| <param name="onTime" value="75ms"/> | ||
| <param name="offTime" value="75ms"/> | ||
| </object> | ||
| ``` | ||
| led_solid_yellow: | | ||
| ```{raw} html | ||
| <object data="../../_images/led.svg"> | ||
| <param name="onColor" value="yellow"/> | ||
| <param name="onTime" value="indefinite"/> | ||
| </object> | ||
| ``` | ||
| --- | ||
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| # Status LEDs | ||
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| PhotonVision has support for multiple kinds of status LEDs. Make sure you reference the correct table for the type present on your hardware. | ||
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| ## RGB LED | ||
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| Color | Flashing | Preview | Status | ||
| --------|----------|:--------------------:|----------------------------------------------- | ||
| Green | Yes | {{ led_green }} | Running normally, no targets visible | ||
| Blue | No | {{ led_solid_blue }} | Running normally, targets visible | ||
| Yellow | Yes | {{ led_yellow }} | NT Disconnected, no targets visible | ||
| Blue | Yes | {{ led_blue }} | NT Disconnected, targets visible | ||
| Red | Yes | {{ led_red }} | Initializing or faulted, not running | ||
| Off | No | {{ led_off }} | No power or initialization fault, not running | ||
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| ## Green and Yellow LEDs | ||
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| Used on Limelight 1, 2, 2+, 3, 3G, and 3A | ||
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| Green and Yellow LED patterns may be active at the same time | ||
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| Color | Pattern | Preview | Status | ||
| --------|----------------|:------------------------------------:|------------------------------------------------- | ||
| Green | Slow Flashing | {{ led_green }} {{ led_off }} | No targets visible | ||
| Green | Quick Flashing | {{ led_fast_green }} {{ led_off }} | Targets visible | ||
| Yellow | Flashing | {{ led_off }} {{ led_yellow }} | NT Disconnected | ||
| Yellow | Solid | {{ led_off }} {{ led_solid_yellow }} | NT Connected | ||
| Both | Off | {{ led_off }} {{ led_off }} | No power, initializing, or faulted, not running | ||
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| {{ led_loader }} |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,91 @@ | ||
| /* | ||
| * Copyright (C) Photon Vision. | ||
| * | ||
| * 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 <https://www.gnu.org/licenses/>. | ||
| */ | ||
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| package org.photonvision.common.hardware.statusLED; | ||
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| import com.diozero.devices.LED; | ||
| import com.diozero.internal.spi.NativeDeviceFactoryInterface; | ||
| import java.util.List; | ||
| import org.photonvision.common.hardware.PhotonStatus; | ||
| import org.photonvision.common.util.TimedTaskManager; | ||
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| /** A pair of green and yellow LEDs, as used on the Limelight cameras */ | ||
| public class GYStatusLED implements StatusLED { | ||
| public final LED greenLED; | ||
| public final LED yellowLED; | ||
| protected int blinkCounter; | ||
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| protected PhotonStatus status = PhotonStatus.GENERIC_ERROR; | ||
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| public GYStatusLED( | ||
| NativeDeviceFactoryInterface deviceFactory, List<Integer> statusLedPins, boolean activeHigh) { | ||
| // fill unassigned pins with -1 to disable | ||
| if (statusLedPins.size() != 3) { | ||
| for (int i = 0; i < 3 - statusLedPins.size(); i++) { | ||
| statusLedPins.add(-1); | ||
| } | ||
| } | ||
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| // Outputs are active-low for a common-anode RGB LED | ||
| greenLED = new LED(deviceFactory, statusLedPins.get(0), activeHigh, false); | ||
| yellowLED = new LED(deviceFactory, statusLedPins.get(1), activeHigh, false); | ||
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| TimedTaskManager.getInstance().addTask("StatusLEDUpdate", this::updateLED, 75); | ||
| } | ||
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| protected void setLEDs(boolean green, boolean yellow) { | ||
| greenLED.setOn(green); | ||
| yellowLED.setOn(yellow); | ||
| } | ||
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| @Override | ||
| public void setStatus(PhotonStatus status) { | ||
| this.status = status; | ||
| } | ||
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| protected void updateLED() { | ||
| boolean slowBlink = blinkCounter > 1; | ||
| boolean fastBlink = (blinkCounter % 2) > 0; | ||
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| switch (status) { | ||
| case NT_CONNECTED_TARGETS_VISIBLE -> | ||
| // Green fast, yellow on | ||
| setLEDs(fastBlink, true); | ||
| case NT_CONNECTED_TARGETS_MISSING -> | ||
| // Green slow, yellow on | ||
| setLEDs(slowBlink, true); | ||
| case NT_DISCONNECTED_TARGETS_VISIBLE -> | ||
| // Green fast, yellow slow | ||
| setLEDs(fastBlink, slowBlink); | ||
| case NT_DISCONNECTED_TARGETS_MISSING -> | ||
| // Green slow, yellow slow | ||
| setLEDs(slowBlink, slowBlink); | ||
| case GENERIC_ERROR -> | ||
| // No lights | ||
| setLEDs(false, false); | ||
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Comment on lines
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Contributor
Author
There was a problem hiding this comment. I am debating between no lights and a slow green blink with no yellow. There is no precedent from Limelight on this case. |
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| } | ||
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| blinkCounter++; | ||
| blinkCounter %= 6; | ||
| } | ||
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| @Override | ||
| public void close() throws Exception { | ||
| greenLED.close(); | ||
| yellowLED.close(); | ||
| } | ||
| } | ||
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With more LED support added to these hardware configuration files, I'm not sure hidden in the documentation is the best spot for them anymore. It feels more appropriate to install them in the images available for download, like is done for Luma P1. However, I'm also not sure if I like the sqlite database being committed for just hardware config, since it is a lot harder to view the contents of a sqlite than it is for JSON.
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Absolutely agree. Maybe for 27. Let's talk about committing Jason files but converting them using some sort of Java tool?