beep.cpp
3.21 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
/****************************************************************************
*
* 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.cpp
*
* @author CUAVcaijie <caijie@cuav.net>
*/
#include "beep.hpp"
UavcanBeep::UavcanBeep(uavcan::INode &node) :
_beep_pub(node),
_timer(node)
{
}
int UavcanBeep::init()
{
/*
* Setup timer and call back function for periodic updates
*/
if (!_timer.isRunning()) {
_timer.setCallback(TimerCbBinder(this, &UavcanBeep::periodic_update));
_timer.startPeriodic(uavcan::MonotonicDuration::fromMSec(1000 / MAX_RATE_HZ));
}
return 0;
}
void UavcanBeep::periodic_update(const uavcan::TimerEvent &)
{
if (_tune_control_sub.updated()) {
_tune_control_sub.copy(&_tune);
if (_tune.timestamp > 0) {
Tunes::ControlResult result = _tunes.set_control(_tune);
_play_tone = (result == Tunes::ControlResult::Success) || (result == Tunes::ControlResult::AlreadyPlaying);
}
}
const hrt_abstime timestamp_now = hrt_absolute_time();
if ((timestamp_now - _interval_timestamp <= _duration) || !_play_tone) {
return;
}
_interval_timestamp = timestamp_now;
if (_silence_length > 0) {
_duration = _silence_length;
_silence_length = 0;
} else if (_play_tone) {
Tunes::Status parse_ret_val = _tunes.get_next_note(_frequency, _duration, _silence_length);
if (parse_ret_val == Tunes::Status::Continue) {
// Continue playing.
_play_tone = true;
if (_frequency > 0) {
// Start playing the note.
uavcan::equipment::indication::BeepCommand cmd{};
cmd.frequency = _frequency;
cmd.duration = _duration / 1000000.f;
_beep_pub.broadcast(cmd);
}
} else {
_play_tone = false;
}
}
}