beep.hpp
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/****************************************************************************
*
* Copyright (c) 2021 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.
*
****************************************************************************/
/**
* @file beep.hpp
*
* @author CUAVcaijie <caijie@cuav.net>
*
* @brief Control CAN buzzer by subscribing to tune_control
*
*/
#pragma once
#include <uavcan/uavcan.hpp>
#include <uavcan/equipment/indication/BeepCommand.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/topics/tune_control.h>
#include <lib/tunes/tunes.h>
class UavcanBeep
{
public:
UavcanBeep(uavcan::INode &node);
/*
* setup periodic updater
*/
int init();
private:
/*
* Max update rate to avoid excessive bus traffic
*/
static constexpr unsigned MAX_RATE_HZ = 100;
/*
* Setup timer and call back function for periodic updates
*/
void periodic_update(const uavcan::TimerEvent &);
typedef uavcan::MethodBinder<UavcanBeep *, void (UavcanBeep::*)(const uavcan::TimerEvent &)> TimerCbBinder;
/*
* Subscription tune_control
*/
uORB::Subscription _tune_control_sub{ORB_ID(tune_control)};
/*
* Publish CAN Beep
*/
uavcan::Publisher<uavcan::equipment::indication::BeepCommand> _beep_pub;
uavcan::TimerEventForwarder<TimerCbBinder> _timer;
hrt_abstime _interval_timestamp{0};
tune_control_s _tune{};
Tunes _tunes{};
bool _play_tone{false};
unsigned int _silence_length{0}; ///< If nonzero, silence before next note.
unsigned int _frequency{0};
unsigned int _duration{0};
};