uavcan: add tune_control/beep

2026-07-17 12:00:34 +08:00 · 2020-11-26 17:36:03 +08:00
parent f571b29ae8
commit 43e1cda8ac
6 changed files with 207 additions and 1 deletions
@@ -0,0 +1,102 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 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 beep.cpp
+ *
+ * @author CUAVcaijie <caijie@cuav.net>
+ */
+
+#include "beep.hpp"
+
+UavcanBeep::UavcanBeep(uavcan::INode &node) :
+	_beep_pub(node),
+	_timer(node)
+{
+}
+
+int UavcanBeep::init()
+{
+	/*
+	 * Setup timer and call back function for periodic updates
+	 */
+	if (!_timer.isRunning()) {
+		_timer.setCallback(TimerCbBinder(this, &UavcanBeep::periodic_update));
+		_timer.startPeriodic(uavcan::MonotonicDuration::fromMSec(1000 / MAX_RATE_HZ));
+	}
+
+	return 0;
+}
+
+void UavcanBeep::periodic_update(const uavcan::TimerEvent &)
+{
+	if (_tune_control_sub.updated()) {
+		_tune_control_sub.copy(&_tune);
+
+		if (_tune.timestamp > 0) {
+			_play_tone = (_tunes.set_control(_tune) == Tunes::ControlResult::Success);
+		}
+	}
+
+	const hrt_abstime timestamp_now = hrt_absolute_time();
+
+	if ((timestamp_now - _interval_timestamp <= _duration) || !_play_tone) {
+		return;
+	}
+
+	_interval_timestamp = timestamp_now;
+
+	if (_silence_length > 0) {
+		_duration = _silence_length;
+		_silence_length = 0;
+
+	} else if (_play_tone) {
+		Tunes::Status parse_ret_val = _tunes.get_next_note(_frequency, _duration, _silence_length);
+
+		if (parse_ret_val == Tunes::Status::Continue) {
+			// Continue playing.
+			_play_tone = true;
+
+			if (_frequency > 0) {
+				// Start playing the note.
+				uavcan::equipment::indication::BeepCommand cmd{};
+				cmd.frequency = _frequency;
+				cmd.duration = _duration / 1000000.f;
+				_beep_pub.broadcast(cmd);
+			}
+
+		} else {
+			_play_tone = false;
+		}
+	}
+}