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Fixed beeping

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This commit is contained in:
Pavel Kirienko 2016-08-07 01:55:53 +03:00 committed by Lorenz Meier
parent 61ffc6c432
commit 36efc8c83e
1 changed files with 6 additions and 6 deletions
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12
src/modules/uavcan/uavcan_servers.cpp
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@ -504,7 +504,7 @@ pthread_addr_t UavcanServers::run(pthread_addr_t)
_esc_enumeration_active = command_id;
_esc_enumeration_index = 0;
_esc_count = 0;
beep(_esc_enumeration_active ? 500.0F : 1000.0F, 0.5F);
beep(_esc_enumeration_active ? 500.0F : 1000.0F, 0.2F);
uavcan::protocol::enumeration::Begin::Request req;
// TODO: Incorrect implementation; the parameter name field should be left empty.
// Leaving it as-is to avoid breaking compatibility with non-compliant nodes.
@ -757,8 +757,8 @@ uint8_t UavcanServers::get_next_dirty_node_id(uint8_t base)
void UavcanServers::beep(float frequency, float duration)
{
uavcan::equipment::indication::BeepCommand cmd;
cmd.frequency = 500.0f;
cmd.duration = 0.5f;
cmd.frequency = frequency;
cmd.duration = duration;
(void)_beep_pub.broadcast(cmd);
}
@ -855,13 +855,13 @@ void UavcanServers::cb_enumeration_save(const uavcan::ServiceCallResult<uavcan::
{
if (!result.isSuccessful()) {
warnx("UAVCAN ESC enumeration: save request for node %hhu timed out.", result.getCallID().server_node_id.get());
beep(100.0F, 1.0F);
beep(100.0F, 0.5F);
} else if (!result.getResponse().ok) {
warnx("UAVCAN ESC enumeration: save request for node %hhu rejected", result.getCallID().server_node_id.get());
beep(100.0F, 1.0F);
beep(100.0F, 0.5F);
} else {
warnx("UAVCAN ESC enumeration: save request for node %hhu completed OK.", result.getCallID().server_node_id.get());
beep(2000.0F, 0.25F);
beep(2000.0F, 0.2F);
}
warnx("UAVCAN ESC enumeration: completed %hhu of %hhu", _esc_enumeration_index, _esc_count);