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drivers/tone_alarm and tune_control small improvements/cleanup

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- drivers/tone_alarm: move to ModuleBase and purge CDev (/dev/tone_alarm0)
 - drivers/tone_alarm: only run on tune_control publication (or scheduled note) rather than continuously
 - drivers/tone_alarm: use HRT to schedule tone stop (prevents potential disruption)
 - msg/tune_control: add tune_id numbering
 - systemcmds/tune_control: add "error" special case tune_id
 - move all tune_control publication to new uORB::PublicationQueued<>
 - start tone_alarm immediately after board defaults are loaded to fix potential startup issues
 - for SITL (or other boards with no TONE output) print common messages (startup, error, etc)
This commit is contained in:
Daniel Agar
2020-10-05 21:39:26 -04:00
committed by GitHub
parent c7072b61a3
commit 08bf71b73d
39 changed files with 429 additions and 577 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/systemcmds/tune_control/CMakeLists.txt
+2
View File
@@ -33,6 +33,8 @@
px4_add_module(
MODULE systemcmds__tune_control
MAIN tune_control
PRIORITY
"SCHED_PRIORITY_MAX - 16" # max priority below high priority WQ threads
COMPILE_FLAGS
SRCS
tune_control.cpp
src/systemcmds/tune_control/tune_control.cpp
+21 -33
View File
@@ -49,35 +49,23 @@
#include <px4_platform_common/module.h>
#include <lib/tunes/tunes.h>
#include <uORB/Publication.hpp>
#include <uORB/topics/tune_control.h>
#include <drivers/drv_hrt.h>
#define MAX_NOTE_ITERATION 50
static void usage();
static orb_advert_t tune_control_pub = nullptr;
extern "C" {
__EXPORT int tune_control_main(int argc, char *argv[]);
}
static void usage();
static void publish_tune_control(tune_control_s &tune_control)
{
uORB::PublicationQueued<tune_control_s> tune_control_pub{ORB_ID(tune_control)};
tune_control.timestamp = hrt_absolute_time();
if (tune_control_pub == nullptr) {
// We have a minimum of 3 so that tune, stop, tune will fit
tune_control_pub = orb_advertise_queue(ORB_ID(tune_control), &tune_control, tune_control_s::ORB_QUEUE_LENGTH);
} else {
orb_publish(ORB_ID(tune_control), tune_control_pub, &tune_control);
}
tune_control_pub.publish(tune_control);
}
int
tune_control_main(int argc, char *argv[])
extern "C" __EXPORT int tune_control_main(int argc, char *argv[])
{
Tunes tunes;
bool string_input = false;
@@ -86,8 +74,7 @@ tune_control_main(int argc, char *argv[])
int ch;
const char *myoptarg = nullptr;
unsigned int value;
tune_control_s tune_control = {};
tune_control.tune_id = 0;
tune_control_s tune_control{};
tune_control.volume = tune_control_s::VOLUME_LEVEL_DEFAULT;
while ((ch = px4_getopt(argc, argv, "f:d:t:m:s:", &myoptind, &myoptarg)) != EOF) {
@@ -163,11 +150,15 @@ tune_control_main(int argc, char *argv[])
int exit_counter = 0;
if (!strcmp(argv[myoptind], "play")) {
if (string_input) {
if (argc >= 2 && !strcmp(argv[2], "error")) {
tune_control.tune_id = tune_control_s::TUNE_ID_ERROR;
publish_tune_control(tune_control);
} else if (string_input) {
PX4_INFO("Start playback...");
tunes.set_string(tune_string, tune_control.volume);
while (tunes.get_next_note(frequency, duration, silence, volume) > 0) {
while (tunes.get_next_note(frequency, duration, silence, volume) == Tunes::Status::Continue) {
tune_control.tune_id = 0;
tune_control.frequency = (uint16_t)frequency;
tune_control.duration = (uint32_t)duration;
@@ -185,12 +176,13 @@ tune_control_main(int argc, char *argv[])
PX4_INFO("Playback finished.");
} else { // tune id instead of string has been provided
} else {
// tune id instead of string has been provided
if (tune_control.tune_id == 0) {
tune_control.tune_id = 1;
}
PX4_INFO("Publishing standard tune %d", tune_control.tune_id);
PX4_DEBUG("Publishing standard tune %d", tune_control.tune_id);
publish_tune_control(tune_control);
}
@@ -201,7 +193,7 @@ tune_control_main(int argc, char *argv[])
PX4_WARN("Tune ID not recognized.");
}
while (tunes.get_next_note(frequency, duration, silence, volume) > 0) {
while (tunes.get_next_note(frequency, duration, silence, volume) == Tunes::Status::Continue) {
PX4_INFO("frequency: %d, duration %d, silence %d, volume %d",
frequency, duration, silence, volume);
@@ -235,10 +227,8 @@ tune_control_main(int argc, char *argv[])
return 0;
}
static void
usage()
static void usage()
{
PRINT_MODULE_DESCRIPTION(
R"DESCR_STR(
### Description
@@ -258,14 +248,12 @@ $ tune_control play -t 2
)DESCR_STR");
PRINT_MODULE_USAGE_NAME("tune_control", "system");
PRINT_MODULE_USAGE_COMMAND_DESCR("play","Play system tune or single note.");
PRINT_MODULE_USAGE_COMMAND_DESCR("play", "Play system tune or single note.");
PRINT_MODULE_USAGE_PARAM_INT('t', 1, 1, 21, "Play predefined system tune", true);
PRINT_MODULE_USAGE_PARAM_INT('f', -1, 0, 22, "Frequency of note in Hz (0-22kHz)", true);
PRINT_MODULE_USAGE_PARAM_INT('d', -1, 1, 21, "Duration of note in us", true);
PRINT_MODULE_USAGE_PARAM_INT('s', 40, 0, 100, "Volume level (loudness) of the note (0-100)", true);
PRINT_MODULE_USAGE_PARAM_STRING('m', nullptr, R"(<string> - e.g. "MFT200e8a8a")",
"Melody in string form", true);
PRINT_MODULE_USAGE_COMMAND_DESCR("libtest","Test library");
PRINT_MODULE_USAGE_COMMAND_DESCR("stop","Stop playback (use for repeated tunes)");
PRINT_MODULE_USAGE_PARAM_STRING('m', nullptr, R"(<string> - e.g. "MFT200e8a8a")", "Melody in string form", true);
PRINT_MODULE_USAGE_COMMAND_DESCR("libtest", "Test library");
PRINT_MODULE_USAGE_COMMAND_DESCR("stop", "Stop playback (use for repeated tunes)");
}