mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-16 23:20:35 +08:00
Julian Oes
95 lines
3.2 KiB
C++
95 lines
3.2 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2020 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include "tune_publisher.h"
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#include "string.h"
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#include <px4_platform_common/log.h>
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void TunePublisher::set_tune_string(const char *tune, const hrt_abstime &now)
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{
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// The tune string needs to be 0 terminated.
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const unsigned tune_len = strlen(tune);
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// We don't expect the tune string to be longer than what can come in via MAVLink including 0 termination.
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if (tune_len >= MAX_TUNE_LEN) {
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PX4_ERR("Tune string too long.");
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return;
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}
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strncpy(_tune_buffer, tune, MAX_TUNE_LEN);
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_tunes.set_string(_tune_buffer, tune_control_s::VOLUME_LEVEL_DEFAULT);
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_next_publish_time = now;
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}
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void TunePublisher::publish_next_tune(const hrt_abstime now)
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{
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if (_next_publish_time == 0) {
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// Nothing to play.
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return;
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}
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if (now < _next_publish_time) {
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// Too early, try again later.
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return;
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}
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unsigned frequency;
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unsigned duration;
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unsigned silence;
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uint8_t volume;
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if (_tunes.get_next_note(frequency, duration, silence, volume) > 0) {
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tune_control_s tune_control {};
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tune_control.tune_id = 0;
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tune_control.volume = tune_control_s::VOLUME_LEVEL_DEFAULT;
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tune_control.tune_id = 0;
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tune_control.frequency = static_cast<uint16_t>(frequency);
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tune_control.duration = static_cast<uint32_t>(duration);
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tune_control.silence = static_cast<uint32_t>(silence);
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tune_control.volume = static_cast<uint8_t>(volume);
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tune_control.timestamp = now;
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_tune_control_pub.publish(tune_control);
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_next_publish_time = now + duration + silence;
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} else {
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// We're done, let's reset.
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_next_publish_time = 0;
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}
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}
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