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133 lines
3.5 KiB
133 lines
3.5 KiB
/* |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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/* |
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simple buzzer simulator class |
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*/ |
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#include <GCS_MAVLink/GCS.h> |
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#include <SITL/SITL.h> |
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#include "SIM_Buzzer.h" |
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#ifdef WITH_SITL_TONEALARM |
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#ifdef HAVE_SFML_AUDIO_H |
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#include <SFML/Audio.h> |
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#else |
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#include <SFML/Audio.hpp> |
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#endif |
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// need to namespace this or we end up with multiple definitions of |
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// things from Synth.hpp |
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namespace BuzzerSynth { |
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#include <AP_HAL_SITL/Synth.hpp> |
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}; |
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#endif |
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using namespace SITL; |
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// table of user settable parameters |
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const AP_Param::GroupInfo Buzzer::var_info[] = { |
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// @Param: ENABLE |
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// @DisplayName: Buzzer enable/disable |
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// @Description: Allows you to enable (1) or disable (0) the simulated buzzer |
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// @Values: 0:Disabled,1:Enabled |
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// @User: Advanced |
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AP_GROUPINFO("ENABLE", 0, Buzzer, _enable, 0), |
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// @Param: PIN |
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// @DisplayName: buzzer pin |
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// @Description: The pin number that the Buzzer is connected to (start at 1) |
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// @Range: 0 15 |
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// @User: Advanced |
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AP_GROUPINFO("PIN", 1, Buzzer, _pin, -1), |
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AP_GROUPEND |
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}; |
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#ifdef WITH_SITL_TONEALARM |
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static sf::SoundBuffer xsoundBuffer; |
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static sf::Sound xdemoSound; |
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static uint32_t duration_ms = 10000; |
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Buzzer::Buzzer() { |
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AP_Param::setup_object_defaults(this, var_info); |
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}; |
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void Buzzer::update(const struct sitl_input &input) |
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{ |
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// prepare buzz tone |
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// BuzzerSynth::Synth::sEnvelope xenvelope; |
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if (!prep_done) { |
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BuzzerSynth::Synth::sEnvelope xenvelope; |
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xenvelope.dAttackTime = 0.000001; |
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xenvelope.dDecayTime = 0.000001; |
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xenvelope.dSustainTime = 10; |
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xenvelope.dReleaseTime = 0.00001; |
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xenvelope.dStartAmplitude = 1.0; |
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xenvelope.dSustainAmplitude = 1.0; |
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const uint32_t frequency = 2000; |
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BuzzerSynth::Synth::sTone tone; |
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tone.waveType = BuzzerSynth::Synth::OSC_SQUARE; |
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tone.dStartFrequency = frequency; |
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tone.dEndFrequency = frequency; |
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tone.dAmplitude = 1; |
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xenvelope.dSustainTime = duration_ms/1000.0f; |
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BuzzerSynth::Synth::generate(&xsoundBuffer, xenvelope, tone, 20000, 44100); |
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xdemoSound.setBuffer(xsoundBuffer); |
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prep_done = true; |
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} |
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const bool on = _pin >= 1 && (AP::sitl()->pin_mask.get() & (1<<_pin)); |
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const uint32_t now = AP_HAL::millis(); |
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if (on) { |
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if (!was_on) { |
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gcs().send_text(MAV_SEVERITY_WARNING, "%u: Buzzer on", now); |
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on_time = now; |
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was_on = true; |
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xdemoSound.play(); |
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} |
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if (now - on_time > duration_ms/2) { |
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gcs().send_text(MAV_SEVERITY_WARNING, "%u: Buzzer on again", now); |
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on_time = now; |
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xdemoSound.play(); |
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} |
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} else { |
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if (was_on) { |
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gcs().send_text(MAV_SEVERITY_WARNING, "%u: Buzzer off", now); |
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xdemoSound.stop(); |
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was_on = false; |
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} |
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} |
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} |
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#else |
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using namespace SITL; |
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Buzzer::Buzzer() { }; |
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void Buzzer::update(const struct sitl_input &input) {} |
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#endif
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