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tunes: Improve logic for interrupting tunes

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src/lib/tunes already knows which tunes are interruptable, so add
return values to expose than and use than in tone_alarm.
This fixes the issue that repeating tunes cannot be interrupted without
tune_override set to true.

Signed-off-by: Alex Mikhalev <alex@corvus-robotics.com>
This commit is contained in:
Alex Mikhalev
2020-11-30 16:56:13 -05:00
committed by Kabir Mohammed
parent bd943d872c
commit 378b41af6a
4 changed files with 86 additions and 58 deletions
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src/drivers/tone_alarm/ToneAlarm.cpp
+66 -50
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@@ -99,76 +99,92 @@ void ToneAlarm::Run()
if (_tune_control_sub.copy(&tune_control)) {
if (tune_control.timestamp > 0) {
if (!_play_tone || (_play_tone && tune_control.tune_override)) {
Tunes::ControlResult tune_result = _tunes.set_control(tune_control);
switch (tune_result) {
case Tunes::ControlResult::Success:
PX4_DEBUG("new tune %d", tune_control.tune_id);
if (_tunes.set_control(tune_control) == PX4_OK) {
if (tune_control.tune_override) {
// clear existing
ToneAlarmInterface::stop_note();
_next_note_time = 0;
hrt_cancel(&_hrt_call);
}
if (tune_control.tune_override) {
// clear existing
ToneAlarmInterface::stop_note();
_next_note_time = 0;
hrt_cancel(&_hrt_call);
}
_play_tone = true;
_play_tone = true;
#if (!defined(TONE_ALARM_TIMER) && !defined(GPIO_TONE_ALARM_GPIO)) || defined(DEBUG_BUILD)
switch (tune_control.tune_id) {
case tune_control_s::TUNE_ID_STARTUP:
PX4_INFO("startup tune");
break;
switch (tune_control.tune_id) {
case tune_control_s::TUNE_ID_STARTUP:
PX4_INFO("startup tune");
break;
case tune_control_s::TUNE_ID_ERROR:
PX4_ERR("error tune");
break;
case tune_control_s::TUNE_ID_ERROR:
PX4_ERR("error tune");
break;
case tune_control_s::TUNE_ID_NOTIFY_POSITIVE:
PX4_INFO("notify positive");
break;
case tune_control_s::TUNE_ID_NOTIFY_POSITIVE:
PX4_INFO("notify positive");
break;
case tune_control_s::TUNE_ID_NOTIFY_NEUTRAL:
PX4_INFO("notify neutral");
break;
case tune_control_s::TUNE_ID_NOTIFY_NEUTRAL:
PX4_INFO("notify neutral");
break;
case tune_control_s::TUNE_ID_NOTIFY_NEGATIVE:
PX4_ERR("notify negative");
break;
case tune_control_s::TUNE_ID_NOTIFY_NEGATIVE:
PX4_ERR("notify negative");
break;
case tune_control_s::TUNE_ID_ARMING_WARNING:
PX4_WARN("arming warning");
break;
case tune_control_s::TUNE_ID_ARMING_WARNING:
PX4_WARN("arming warning");
break;
case tune_control_s::TUNE_ID_BATTERY_WARNING_SLOW:
PX4_WARN("battery warning (slow)");
break;
case tune_control_s::TUNE_ID_BATTERY_WARNING_SLOW:
PX4_WARN("battery warning (slow)");
break;
case tune_control_s::TUNE_ID_BATTERY_WARNING_FAST:
PX4_WARN("battery warning (fast)");
break;
case tune_control_s::TUNE_ID_BATTERY_WARNING_FAST:
PX4_WARN("battery warning (fast)");
break;
case tune_control_s::TUNE_ID_ARMING_FAILURE:
PX4_ERR("arming failure");
break;
case tune_control_s::TUNE_ID_ARMING_FAILURE:
PX4_ERR("arming failure");
break;
case tune_control_s::TUNE_ID_SINGLE_BEEP:
PX4_WARN("beep");
break;
case tune_control_s::TUNE_ID_SINGLE_BEEP:
PX4_WARN("beep");
break;
case tune_control_s::TUNE_ID_HOME_SET:
PX4_INFO("home set");
break;
}
#endif // (!TONE_ALARM_TIMER && !GPIO_TONE_ALARM_GPIO) || DEBUG_BUILD
case tune_control_s::TUNE_ID_HOME_SET:
PX4_INFO("home set");
break;
}
} else if (_play_tone && !tune_control.tune_override) {
#endif // (!TONE_ALARM_TIMER && !GPIO_TONE_ALARM_GPIO) || DEBUG_BUILD
break;
case Tunes::ControlResult::WouldInterrupt:
// otherwise re-publish tune to process next
PX4_DEBUG("tune already playing, requeing tune: %d", tune_control.tune_id);
uORB::Publication<tune_control_s> tune_control_pub{ORB_ID(tune_control)};
tune_control.timestamp = hrt_absolute_time();
tune_control_pub.publish(tune_control);
{
uORB::Publication<tune_control_s> tune_control_pub{ORB_ID(tune_control)};
tune_control.timestamp = hrt_absolute_time();
tune_control_pub.publish(tune_control);
}
break;
case Tunes::ControlResult::InvalidTune:
PX4_WARN("Invalid tune: %d", tune_control.tune_id);
break;
case Tunes::ControlResult::AlreadyPlaying:
// Do nothing
break;
}
}
}