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mavlink: move tune publication to a method

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This commit is contained in:
Julian Oes
2020-04-28 08:45:39 +02:00
committed by Beat Küng
parent 06f40042e9
commit 5f676b6795
2 changed files with 29 additions and 22 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+27 -22
View File
@@ -1762,34 +1762,39 @@ MavlinkReceiver::handle_message_play_tune(mavlink_message_t *msg)
if ((mavlink_system.sysid == play_tune.target_system || play_tune.target_system == 0) && if ((mavlink_system.sysid == play_tune.target_system || play_tune.target_system == 0) &&
(mavlink_system.compid == play_tune.target_component || play_tune.target_component == 0)) { (mavlink_system.compid == play_tune.target_component || play_tune.target_component == 0)) {
Tunes tunes;
tune_control_s tune_control {};
tune_control.tune_id = 0;
tune_control.volume = tune_control_s::VOLUME_LEVEL_DEFAULT;
// Let's make sure the input is 0 terminated and we don't ever overrun it. // Let's make sure the input is 0 terminated and we don't ever overrun it.
play_tune.tune2[sizeof(play_tune.tune2) - 1] = '\0'; play_tune.tune2[sizeof(play_tune.tune2) - 1] = '\0';
tunes.set_string(play_tune.tune, tune_control.volume); publish_tune(play_tune.tune);
}
}
unsigned frequency; void MavlinkReceiver::publish_tune(const char *tune)
unsigned duration; {
unsigned silence;
uint8_t volume;
while (tunes.get_next_note(frequency, duration, silence, volume) > 0) { tune_control_s tune_control {};
tune_control.tune_id = 0; tune_control.tune_id = 0;
tune_control.frequency = static_cast<uint16_t>(frequency); tune_control.volume = tune_control_s::VOLUME_LEVEL_DEFAULT;
tune_control.duration = static_cast<uint32_t>(duration);
tune_control.silence = static_cast<uint32_t>(silence);
tune_control.volume = static_cast<uint8_t>(volume);
tune_control.timestamp = hrt_absolute_time();
_tune_control_pub.publish(tune_control);
// FIXME: this blocks this receiver thread Tunes tunes;
px4_usleep(duration + silence); tunes.set_string(tune, tune_control.volume);
}
unsigned frequency;
unsigned duration;
unsigned silence;
uint8_t volume;
while (tunes.get_next_note(frequency, duration, silence, volume) > 0) {
tune_control.tune_id = 0;
tune_control.frequency = static_cast<uint16_t>(frequency);
tune_control.duration = static_cast<uint32_t>(duration);
tune_control.silence = static_cast<uint32_t>(silence);
tune_control.volume = static_cast<uint8_t>(volume);
tune_control.timestamp = hrt_absolute_time();
_tune_control_pub.publish(tune_control);
// FIXME: this blocks this receiver thread
px4_usleep(duration + silence);
} }
} }
src/modules/mavlink/mavlink_receiver.h
+2
View File
@@ -207,6 +207,8 @@ private:
void fill_thrust(float *thrust_body_array, uint8_t vehicle_type, float thrust); void fill_thrust(float *thrust_body_array, uint8_t vehicle_type, float thrust);
void publish_tune(const char *tune);
/** /**
* @brief Updates the battery, optical flow, and flight ID subscribed parameters. * @brief Updates the battery, optical flow, and flight ID subscribed parameters.
*/ */