rc_loss_alarm.cpp
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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.cpp
*
*/
#include "rc_loss_alarm.h"
#include <px4_platform_common/defines.h>
#include <drivers/drv_hrt.h>
#include <stdint.h>
#include <tunes/tune_definition.h>
namespace events
{
namespace rc_loss
{
void RC_Loss_Alarm::process()
{
vehicle_status_s status{};
if (!_vehicle_status_sub.update(&status)) {
return;
}
if (!_was_armed &&
status.arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
_was_armed = true; // Once true, impossible to go back to false
}
if (!_had_rc && !status.rc_signal_lost) {
_had_rc = true;
}
if (_was_armed && _had_rc && status.rc_signal_lost &&
status.arming_state != vehicle_status_s::ARMING_STATE_ARMED) {
play_tune();
_alarm_playing = true;
} else if (_alarm_playing) {
stop_tune();
_alarm_playing = false;
}
}
void RC_Loss_Alarm::play_tune()
{
tune_control_s tune_control{};
tune_control.tune_id = tune_control_s::TUNE_ID_ERROR;
tune_control.tune_override = true;
tune_control.volume = tune_control_s::VOLUME_LEVEL_MAX;
tune_control.timestamp = hrt_absolute_time();
_tune_control_pub.publish(tune_control);
}
void RC_Loss_Alarm::stop_tune()
{
tune_control_s tune_control{};
tune_control.tune_override = true;
tune_control.timestamp = hrt_absolute_time();
_tune_control_pub.publish(tune_control);
}
} /* namespace rc_loss */
} /* namespace events */