From f66c3914f616c23a2459016b7ade1284345b8e8b Mon Sep 17 00:00:00 2001
From: Junwoo Hwang <junwoo@auterion.com>
Date: Tue, 3 May 2022 10:44:42 +0200
Subject: [PATCH] Give priority to power off tune over other tunes (e.g.
 Battery Low)

Make Power Off tune not interruptable

This solves the case of Low Battery warning tune overriding the power
off tune, as now the Power off tune is not interruptable by any other
tune unless override flag is specified

commander_helper: resolve "redundant boolean literal in ternary expression result"
---
 src/lib/tunes/tune_definition.desc         | 2 +-
 src/modules/commander/Commander.cpp        | 8 +++-----
 src/modules/commander/commander_helper.cpp | 4 ++--
 3 files changed, 6 insertions(+), 8 deletions(-)

diff --git a/src/lib/tunes/tune_definition.desc b/src/lib/tunes/tune_definition.desc
index db4ee927e7..7c09be81fc 100644
--- a/src/lib/tunes/tune_definition.desc
+++ b/src/lib/tunes/tune_definition.desc
@@ -104,4 +104,4 @@ PX4_DEFINE_TUNE(15, SD_ERROR,              "MNBG",
 PX4_DEFINE_TUNE(16, PROG_PX4IO,            "MLL32CP8MB",                                    false /*  Program PX4IO */)
 PX4_DEFINE_TUNE(17, PROG_PX4IO_OK,         "MLL8CDE",                                       false /*  Program PX4IO success */)
 PX4_DEFINE_TUNE(18, PROG_PX4IO_ERR,        "ML<<CP4CP4CP4CP4CP4",                           true  /*  Program PX4IO fail */)
-PX4_DEFINE_TUNE(19, POWER_OFF,             "MFT255a8g8f8e8c8<b8a8g4",                       true  /*  When pressing off button */)
+PX4_DEFINE_TUNE(19, POWER_OFF,             "MFT255a8g8f8e8c8<b8a8g4",                       false  /*  When pressing off button */)
diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index 269a618190..fa0b8c4f46 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -107,13 +107,11 @@ static_assert(sizeof(actuator_armed_s) == 16, "actuator_armed equality operator
 
 #if defined(BOARD_HAS_POWER_CONTROL)
 static orb_advert_t tune_control_pub = nullptr;
+
 static void play_power_button_down_tune()
 {
-	tune_control_s tune_control{};
-	tune_control.volume = tune_control_s::VOLUME_LEVEL_DEFAULT;
-	tune_control.tune_id = tune_control_s::TUNE_ID_POWER_OFF;
-	tune_control.timestamp = hrt_absolute_time();
-	orb_publish(ORB_ID(tune_control), tune_control_pub, &tune_control);
+	// Override any other tunes because power-off sound should have the priority
+	set_tune_override(tune_control_s::TUNE_ID_POWER_OFF);
 }
 
 static void stop_tune()
diff --git a/src/modules/commander/commander_helper.cpp b/src/modules/commander/commander_helper.cpp
index 12a547c305..9b41d74ca8 100644
--- a/src/modules/commander/commander_helper.cpp
+++ b/src/modules/commander/commander_helper.cpp
@@ -177,8 +177,8 @@ void set_tune(const int tune_id)
 {
 	const hrt_abstime current_time = hrt_absolute_time();
 	const unsigned int new_tune_duration = tune_durations[tune_id];
-	const bool current_tune_is_repeating = (tune_end == 0) ? true : false;
-	const bool new_tune_is_repeating = (new_tune_duration == 0) ? true : false;
+	const bool current_tune_is_repeating = (tune_end == 0);
+	const bool new_tune_is_repeating = (new_tune_duration == 0);
 
 	bool set_new_tune = false;