rc_loss_alarm.h
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/****************************************************************************
*
* Copyright (c) 2018 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 rc_loss_alarm.h
* Tone alarm in the event of RC loss
*
*/
#pragma once
#include <uORB/Publication.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/tune_control.h>
namespace events
{
namespace rc_loss
{
class RC_Loss_Alarm
{
public:
RC_Loss_Alarm() = default;
/** regularily called to handle state updates */
void process();
private:
/** Publish tune control to sound alarm */
void play_tune();
/** Publish tune control to interrupt any sound */
void stop_tune();
uORB::Publication<tune_control_s> _tune_control_pub{ORB_ID(tune_control)};
uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
bool _was_armed = false;
bool _had_rc = false; // Don't trigger alarm for systems without RC
bool _alarm_playing = false;
};
} /* namespace rc_loss */
} /* namespace events */