tune_publisher.cpp
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/****************************************************************************
*
* Copyright (c) 2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include "tune_publisher.h"
#include "string.h"
#include <px4_platform_common/log.h>
void TunePublisher::set_tune_string(const char *tune, const hrt_abstime &now)
{
// The tune string needs to be 0 terminated.
const unsigned tune_len = strlen(tune);
// We don't expect the tune string to be longer than what can come in via MAVLink including 0 termination.
if (tune_len >= MAX_TUNE_LEN) {
PX4_ERR("Tune string too long.");
return;
}
strncpy(_tune_buffer, tune, MAX_TUNE_LEN);
_tunes.set_string(_tune_buffer, tune_control_s::VOLUME_LEVEL_DEFAULT);
_next_publish_time = now;
}
void TunePublisher::publish_next_tune(const hrt_abstime now)
{
if (_next_publish_time == 0) {
// Nothing to play.
return;
}
if (now < _next_publish_time) {
// Too early, try again later.
return;
}
unsigned frequency;
unsigned duration;
unsigned silence;
uint8_t volume;
if (_tunes.get_next_note(frequency, duration, silence, volume) == Tunes::Status::Continue) {
tune_control_s tune_control{};
tune_control.frequency = static_cast<uint16_t>(frequency);
tune_control.duration = static_cast<uint32_t>(duration);
tune_control.silence = static_cast<uint32_t>(silence);
tune_control.volume = static_cast<uint8_t>(volume);
tune_control.timestamp = hrt_absolute_time();
_tune_control_pub.publish(tune_control);
_next_publish_time = now + duration + silence;
} else {
// We're done, let's reset.
_next_publish_time = 0;
}
}