HAL_Linux:create ToneAlarmDriver as a separate class

ToneAlarm is now declared as a separate class instance of which is added as a private member of LinuxUtil
Some minor fixes in this patch include changing return type of tonealarm_init() to bool and use dprintf

libraries/AP_HAL_Linux/AP_HAL_Linux_Namespace.h

@@ -30,6 +30,7 @@ namespace Linux {
     class LinuxSemaphore;
     class LinuxScheduler;
     class LinuxUtil;
+	class ToneAlarm;					//limit the scope of ToneAlarm driver to Linux_HAL only
 }
 
 #endif // __AP_HAL_LINUX_NAMESPACE_H__

libraries/AP_HAL_Linux/AP_HAL_Linux_Private.h

@@ -19,6 +19,7 @@
 #include "RCOutput_ZYNQ.h"
 #include "Semaphores.h"
 #include "Scheduler.h"
+#include "ToneAlarmDriver.h"
 #include "Util.h"
 
 #endif // __AP_HAL_LINUX_PRIVATE_H__

libraries/AP_HAL_Linux/Scheduler.cpp

@@ -325,7 +325,7 @@ void *LinuxScheduler::_tonealarm_thread(void)
         poll(NULL, 0, 1);        
     }
     while (true) {
-        _microsleep(5000);
+        _microsleep(10000);
 
         // process tone command
         ((LinuxUtil *)hal.util)->_toneAlarm_timer_tick();

libraries/AP_HAL_Linux/ToneAlarmDriver.cpp

@@ -2,7 +2,7 @@
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
 
-#include "Util.h"
+#include "ToneAlarmDriver.h"
 #include <stdio.h>
 #include <sys/types.h>
 #include <sys/stat.h>
@@ -14,7 +14,6 @@
 using namespace Linux;
 
 extern const AP_HAL::HAL& hal;
-static int state;
 static uint16_t notes[] = { 0,
 NOTE_C4, NOTE_CS4, NOTE_D4, NOTE_DS4, NOTE_E4, NOTE_F4, NOTE_FS4, NOTE_G4, NOTE_GS4, NOTE_A4, NOTE_AS4, NOTE_B4,
 NOTE_C5, NOTE_CS5, NOTE_D5, NOTE_DS5, NOTE_E5, NOTE_F5, NOTE_FS5, NOTE_G5, NOTE_GS5, NOTE_A5, NOTE_AS5, NOTE_B5,
@@ -23,7 +22,7 @@ NOTE_C7, NOTE_CS7, NOTE_D7, NOTE_DS7, NOTE_E7, NOTE_F7, NOTE_FS7, NOTE_G7, NOTE_
 };
 
 //List of RTTTL tones 
-const char* LinuxUtil::tune[TONE_NUMBER_OF_TUNES] = { 
+const char* ToneAlarm::tune[TONE_NUMBER_OF_TUNES] = { 
                                 "Startup:d=8,o=6,b=480:a,d7,c7,a,d7,c7,a,d7,16d7,16c7,16d7,16c7,16d7,16c7,16d7,16c7",
                                 "Error:d=4,o=6,b=400:8a,8a,8a,p,a,a,a,p",
                                 "notify_pos:d=4,o=6,b=400:8e,8e,a",
@@ -36,9 +35,9 @@ const char* LinuxUtil::tune[TONE_NUMBER_OF_TUNES] = {
                                 "Arm_fail:d=4,o=4,b=512:b,a,p",
                                 "para_rel:d=16,o=6,b=512:a,g,a,g,a,g,a,g"};
 //Tune Repeat true: play rtttl tune in loop, false: play only once
-bool LinuxUtil::tune_repeat[TONE_NUMBER_OF_TUNES] = {false,true,false,false,false,false,true,true,false,false,false};
+bool ToneAlarm::tune_repeat[TONE_NUMBER_OF_TUNES] = {false,true,false,false,false,false,true,true,false,false,false};
 
-void LinuxUtil::toneAlarm()
+ToneAlarm::ToneAlarm()
 {
     period_fd = open("/sys/devices/ocp.3/pwm_test_P8_36.12/period",O_WRONLY);
     duty_fd = open("/sys/devices/ocp.3/pwm_test_P8_36.12/duty",O_WRONLY);
@@ -47,22 +46,33 @@ void LinuxUtil::toneAlarm()
     tune_num = -1;                    //initialy no tune to play
     tune_pos = 0;
 }
-int8_t LinuxUtil::toneAlarm_init()
+
+bool ToneAlarm::init()
 {
     tune_num = 0;                    //play startup tune
     if((period_fd == -1) || (duty_fd == -1) || (run_fd == -1)){
         hal.console->printf("ToneAlarm: Error!! please check if PWM overlays are loaded correctly");
-        return -1;
+        return false;
     }
-    return 0;
+    return true;
 }
 
-void LinuxUtil::stop()
+void ToneAlarm::set_tune(uint8_t tone)
 {
-    write(run_fd,"0",sizeof(char));
+    tune_num = tone;
 }
 
-bool LinuxUtil::play()
+bool ToneAlarm::is_tune_comp()
+{
+    return tune_comp;
+}
+
+void ToneAlarm::stop()
+{
+    dprintf(run_fd,"0");
+}
+
+bool ToneAlarm::play()
 {
     uint16_t cur_time = hal.scheduler->millis();
     if(tune_num != prev_tune_num){
@@ -79,13 +89,13 @@ bool LinuxUtil::play()
     }
     if((cur_time - prev_time) > duration){
         stop();
-        if(tune[tune_num][tune_pos] == NULL){
+        if(tune[tune_num][tune_pos] == '\0'){
             if(!tune_repeat[tune_num]){
                 tune_num = -1;
             }
 
             tune_pos = 0;
-            state = 0;
+            tune_comp = true;
             return false;
         }
         return true;
@@ -93,11 +103,7 @@ bool LinuxUtil::play()
     return false;
 }
 
-void LinuxUtil::toneAlarm_set_tune(uint8_t tone)
-{
-    tune_num = tone;
-}
-bool LinuxUtil::set_note(){
+bool ToneAlarm::set_note(){
     // first, get note duration, if available
     uint16_t scale,note,num =0;
     duration = 0;
@@ -186,7 +192,7 @@ bool LinuxUtil::set_note(){
     
 }
 
-bool LinuxUtil::init_tune(){
+bool ToneAlarm::init_tune(){
 
     uint16_t num;
     default_dur = 4;
@@ -197,8 +203,9 @@ bool LinuxUtil::init_tune(){
         return false;
     }
     
+    tune_comp = false;
     while(tune[tune_num][tune_pos] != ':'){
-        if(tune[tune_num][tune_pos] == NULL){
+        if(tune[tune_num][tune_pos] == '\0'){
             return false;
         }
         tune_pos++;
@@ -248,17 +255,5 @@ bool LinuxUtil::init_tune(){
     return true;
 }
 
-void LinuxUtil::_toneAlarm_timer_tick(){
-    if(state == 0){
-        state = state + init_tune();
-    }else if(state == 1){
-        state = state + set_note();
-    }
-    if(state == 2){
-        state = state + play();
-    }else if(state == 3){
-        state = 1;
-    }
 
-}
 #endif

libraries/AP_HAL_Linux/Util.cpp

@@ -11,6 +11,9 @@ extern const AP_HAL::HAL& hal;
 #include "Util.h"
 using namespace Linux;
 
+
+static int state;
+ToneAlarm LinuxUtil::_toneAlarm;
 /**
    return commandline arguments, if available
 */
@@ -20,4 +23,31 @@ void LinuxUtil::commandline_arguments(uint8_t &argc, char * const *&argv)
     argv = saved_argv;
 }
 
+bool LinuxUtil::toneAlarm_init()
+{
+    return _toneAlarm.init();
+}
+
+void LinuxUtil::toneAlarm_set_tune(uint8_t tone)
+{
+    _toneAlarm.set_tune(tone);
+}
+
+void LinuxUtil::_toneAlarm_timer_tick(){
+    if(state == 0){
+        state = state + _toneAlarm.init_tune();
+    }else if(state == 1){
+        state = state + _toneAlarm.set_note();
+    }
+    if(state == 2){
+        state = state + _toneAlarm.play();
+    }else if(state == 3){
+        state = 1;
+    }
+    
+    if(_toneAlarm.is_tune_comp()){
+        state = 0;
+    }
+    
+}
 #endif // CONFIG_HAL_BOARD == HAL_BOARD_LINUX

libraries/AP_HAL_Linux/Util.h

@@ -4,119 +4,13 @@
 
 #include <AP_HAL.h>
 #include "AP_HAL_Linux_Namespace.h"
-
-#define OCTAVE_OFFSET 0
-
-#define NOTE_B0  31
-#define NOTE_C1  33
-#define NOTE_CS1 35
-#define NOTE_D1  37
-#define NOTE_DS1 39
-#define NOTE_E1  41
-#define NOTE_F1  44
-#define NOTE_FS1 46
-#define NOTE_G1  49
-#define NOTE_GS1 52
-#define NOTE_A1  55
-#define NOTE_AS1 58
-#define NOTE_B1  62
-#define NOTE_C2  65
-#define NOTE_CS2 69
-#define NOTE_D2  73
-#define NOTE_DS2 78
-#define NOTE_E2  82
-#define NOTE_F2  87
-#define NOTE_FS2 93
-#define NOTE_G2  98
-#define NOTE_GS2 104
-#define NOTE_A2  110
-#define NOTE_AS2 117
-#define NOTE_B2  123
-#define NOTE_C3  131
-#define NOTE_CS3 139
-#define NOTE_D3  147
-#define NOTE_DS3 156
-#define NOTE_E3  165
-#define NOTE_F3  175
-#define NOTE_FS3 185
-#define NOTE_G3  196
-#define NOTE_GS3 208
-#define NOTE_A3  220
-#define NOTE_AS3 233
-#define NOTE_B3  247
-#define NOTE_C4  262
-#define NOTE_CS4 277
-#define NOTE_D4  294
-#define NOTE_DS4 311
-#define NOTE_E4  330
-#define NOTE_F4  349
-#define NOTE_FS4 370
-#define NOTE_G4  392
-#define NOTE_GS4 415
-#define NOTE_A4  440
-#define NOTE_AS4 466
-#define NOTE_B4  494
-#define NOTE_C5  523
-#define NOTE_CS5 554
-#define NOTE_D5  587
-#define NOTE_DS5 622
-#define NOTE_E5  659
-#define NOTE_F5  698
-#define NOTE_FS5 740
-#define NOTE_G5  784
-#define NOTE_GS5 831
-#define NOTE_A5  880
-#define NOTE_AS5 932
-#define NOTE_B5  988
-#define NOTE_C6  1047
-#define NOTE_CS6 1109
-#define NOTE_D6  1175
-#define NOTE_DS6 1245
-#define NOTE_E6  1319
-#define NOTE_F6  1397
-#define NOTE_FS6 1480
-#define NOTE_G6  1568
-#define NOTE_GS6 1661
-#define NOTE_A6  1760
-#define NOTE_AS6 1865
-#define NOTE_B6  1976
-#define NOTE_C7  2093
-#define NOTE_CS7 2217
-#define NOTE_D7  2349
-#define NOTE_DS7 2489
-#define NOTE_E7  2637
-#define NOTE_F7  2794
-#define NOTE_FS7 2960
-#define NOTE_G7  3136
-#define NOTE_GS7 3322
-#define NOTE_A7  3520
-#define NOTE_AS7 3729
-#define NOTE_B7  3951
-#define NOTE_C8  4186
-#define NOTE_CS8 4435
-#define NOTE_D8  4699
-#define NOTE_DS8 4978
-
-#define     TONE_STARTUP_TUNE                   0
-#define     TONE_ERROR_TUNE                     1
-#define     TONE_NOTIFY_POSITIVE_TUNE           2
-#define     TONE_NOTIFY_NEUTRAL_TUNE            3
-#define     TONE_NOTIFY_NEGATIVE_TUNE           4
-#define     TONE_ARMING_WARNING_TUNE            5
-#define     TONE_BATTERY_WARNING_SLOW_TUNE      6
-#define     TONE_BATTERY_WARNING_FAST_TUNE      7
-#define     TONE_GPS_WARNING_TUNE               8
-#define     TONE_ARMING_FAILURE_TUNE            9    
-#define     TONE_PARACHUTE_RELEASE_TUNE         10
-
-#define TONE_NUMBER_OF_TUNES 11
+#include "ToneAlarmDriver.h"
 
 class Linux::LinuxUtil : public AP_HAL::Util {
 public:
     void init(int argc, char * const *argv) {
         saved_argc = argc;
         saved_argv = argv;
-        toneAlarm();
     }
 
 
@@ -127,35 +21,13 @@ public:
      */
     void commandline_arguments(uint8_t &argc, char * const *&argv);
 
-    int8_t toneAlarm_init();
+    bool toneAlarm_init();
     void toneAlarm_set_tune(uint8_t tune);
     
     void _toneAlarm_timer_tick();
 
 private:
-    void toneAlarm(void);
-    void stop();
-    bool play();
-    void play_tune();
-    bool set_note();
-	bool init_tune();
-    static const char *tune[TONE_NUMBER_OF_TUNES];
-    static bool tune_repeat[TONE_NUMBER_OF_TUNES];
-    bool tune_changed;
-	uint8_t default_oct;
-	uint8_t default_dur;
-	uint16_t bpm;
-    uint16_t wholenote;
-    uint16_t cur_note;
-    uint16_t duration;
-    int32_t prev_tune_num;
-	uint32_t prev_time;
-    int32_t period_fd;
-    int32_t duty_fd;
-    int32_t run_fd;
-    int8_t tune_num;
-    uint8_t tune_pos;
-    
+	static Linux::ToneAlarm _toneAlarm;
     int saved_argc;
     char* const *saved_argv;
 };