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103 lines
3.2 KiB
103 lines
3.2 KiB
/**************************************************************************** |
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* |
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* Copyright (c) 2021 PX4 Development Team. All rights reserved. |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* 1. Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* 2. Redistributions in binary form must reproduce the above copyright |
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* notice, this list of conditions and the following disclaimer in |
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* the documentation and/or other materials provided with the |
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* distribution. |
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* 3. Neither the name PX4 nor the names of its contributors may be |
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* used to endorse or promote products derived from this software |
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* without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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* |
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****************************************************************************/ |
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/** |
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* @file beep.cpp |
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* |
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* @author CUAVcaijie <caijie@cuav.net> |
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*/ |
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#include "beep.hpp" |
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UavcanBeep::UavcanBeep(uavcan::INode &node) : |
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_beep_pub(node), |
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_timer(node) |
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{ |
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} |
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int UavcanBeep::init() |
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{ |
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/* |
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* Setup timer and call back function for periodic updates |
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*/ |
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if (!_timer.isRunning()) { |
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_timer.setCallback(TimerCbBinder(this, &UavcanBeep::periodic_update)); |
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_timer.startPeriodic(uavcan::MonotonicDuration::fromMSec(1000 / MAX_RATE_HZ)); |
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} |
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return 0; |
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} |
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void UavcanBeep::periodic_update(const uavcan::TimerEvent &) |
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{ |
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if (_tune_control_sub.updated()) { |
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_tune_control_sub.copy(&_tune); |
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if (_tune.timestamp > 0) { |
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Tunes::ControlResult result = _tunes.set_control(_tune); |
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_play_tone = (result == Tunes::ControlResult::Success) || (result == Tunes::ControlResult::AlreadyPlaying); |
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} |
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} |
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const hrt_abstime timestamp_now = hrt_absolute_time(); |
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if ((timestamp_now - _interval_timestamp <= _duration) || !_play_tone) { |
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return; |
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} |
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_interval_timestamp = timestamp_now; |
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if (_silence_length > 0) { |
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_duration = _silence_length; |
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_silence_length = 0; |
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} else if (_play_tone) { |
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Tunes::Status parse_ret_val = _tunes.get_next_note(_frequency, _duration, _silence_length); |
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if (parse_ret_val == Tunes::Status::Continue) { |
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// Continue playing. |
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_play_tone = true; |
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if (_frequency > 0) { |
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// Start playing the note. |
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uavcan::equipment::indication::BeepCommand cmd{}; |
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cmd.frequency = _frequency; |
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cmd.duration = _duration / 1000000.f; |
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_beep_pub.broadcast(cmd); |
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} |
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} else { |
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_play_tone = false; |
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} |
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} |
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}
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