PX4-Autopilot/src/systemcmds/tune_control/tune_control.cpp

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/**
 * @file tune_control.cpp
 *
 * Command-line tool to control & test the (external) tunes.
 * To use it make sure there's a driver running, which handles the tune_control uorb topic.
 */

#include <px4_getopt.h>
#include <px4_log.h>

#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <errno.h>

#include <px4_module.h>

#include <lib/tunes/tunes.h>
#include <uORB/topics/tune_control.h>

#include <drivers/drv_hrt.h>

#define MAX_NOTE_ITERATION 50

static void	usage();

static orb_advert_t tune_control_pub = nullptr;

extern "C" {
	__EXPORT int tune_control_main(int argc, char *argv[]);
}

static void
usage()
{

	PRINT_MODULE_DESCRIPTION(
		R"DESCR_STR(
### Description

Command-line tool to control & test the (external) tunes.

Tunes are used to provide audible notification and warnings (e.g. when the system arms, gets position lock, etc.).
The tool requires that a driver is running that can handle the tune_control uorb topic.

Information about the tune format and predefined system tunes can be found here:
https://github.com/PX4/Firmware/blob/master/src/lib/tunes/tune_definition.desc

### Examples

Play system tune #2:
$ tune_control play -t 2
)DESCR_STR");

	PRINT_MODULE_USAGE_NAME("tune_control", "system");
	PRINT_MODULE_USAGE_COMMAND_DESCR("play","Play system tune, tone, or melody");
        PRINT_MODULE_USAGE_PARAM_INT('t', 1, 1, 21, "Play predefined system tune", true);
        PRINT_MODULE_USAGE_PARAM_INT('f', 0, 0, 22, "Frequency of tone in Hz (0-22kHz)", true);
	PRINT_MODULE_USAGE_PARAM_INT('d', 1, 1, 21, "Duration of tone in us", true);
	PRINT_MODULE_USAGE_PARAM_INT('s', 40, 0, 100, "Strength of tone (0-100)", true);
	PRINT_MODULE_USAGE_PARAM_STRING('m', nullptr,  R"(<string> - e.g. "MFT200e8a8a")",
					 "Melody in string form", true);
	PRINT_MODULE_USAGE_COMMAND_DESCR("libtest","Test library");
	PRINT_MODULE_USAGE_COMMAND_DESCR("stop","Stop playback (use for repeated tunes)");

}

static void publish_tune_control(tune_control_s &tune_control)
{
	tune_control.timestamp = hrt_absolute_time();

	if (tune_control_pub == nullptr) {
		// We have a minimum of 3 so that tune, stop, tune will fit
		tune_control_pub = orb_advertise_queue(ORB_ID(tune_control), &tune_control, 3);

	} else {
		orb_publish(ORB_ID(tune_control), tune_control_pub, &tune_control);
	}
}

int
tune_control_main(int argc, char *argv[])
{
	Tunes tunes;
	bool string_input = false;
	const char *tune_string  = nullptr;
	int myoptind = 1;
	int ch;
	const char *myoptarg = nullptr;
	unsigned int value;
	tune_control_s tune_control = {};
	tune_control.tune_id = 0;
	tune_control.strength = tune_control_s::STRENGTH_NORMAL;

	while ((ch = px4_getopt(argc, argv, "f:d:t:m:s:", &myoptind, &myoptarg)) != EOF) {
		switch (ch) {
		case 'f':
			value = (uint16_t)(strtol(myoptarg, nullptr, 0));

			if (value > 0 && value < 22000) {
				tune_control.frequency = value;

			} else {
				usage();
				return 1;
			}

			break;

		case 'd':
			tune_control.duration = (uint32_t)(strtol(myoptarg, nullptr, 0));
			break;

		case 't':
			value = (uint8_t)(strtol(myoptarg, nullptr, 0));

			if (value > 0 && value < tunes.get_default_tunes_size()) {
				tune_control.tune_id = value;

			} else {
				usage();
				return 1;
			}

			break;

		case 'm':
			string_input = true;
			tune_string  = myoptarg;

			// check if string is a valid melody string
			if (tune_string[0] != 'M') {
				usage();
				return 1;
			}

			break;

		case 's':
			value = (uint8_t)(strtol(myoptarg, nullptr, 0));

			if (value > 0 && value < 100) {
				tune_control.strength = value;

			} else {
				tune_control.strength = tune_control_s::STRENGTH_NORMAL;
			}

			break;

		default:
			usage();
			return -1;
			break;
		}
	}

	if (myoptind >= argc) {
		usage();
		return 1;
	}

	unsigned frequency, duration, silence;
	uint8_t strength;
	int exit_counter = 0;

	if (!strcmp(argv[myoptind], "play")) {
		if (string_input) {
			PX4_INFO("Start playback...");
			tunes.set_string(tune_string, tune_control.strength);

			while (tunes.get_next_tune(frequency, duration, silence, strength) > 0) {
				tune_control.tune_id = 0;
				tune_control.frequency = (uint16_t)frequency;
				tune_control.duration = (uint32_t)duration;
				tune_control.silence = (uint32_t)silence;
				tune_control.strength = (uint8_t)strength;
				publish_tune_control(tune_control);
				px4_usleep(duration + silence);
				exit_counter++;

				// exit if the loop is doing too many iterations
				if (exit_counter > MAX_NOTE_ITERATION) {
					break;
				}
			}

			PX4_INFO("Playback finished.");

		} else {  // tune id instead of string has been provided
			if (tune_control.tune_id == 0) {
				tune_control.tune_id = 1;
			}

			PX4_INFO("Publishing standard tune %d", tune_control.tune_id);
			publish_tune_control(tune_control);
		}

	} else if (!strcmp(argv[myoptind], "libtest")) {
		int ret = tunes.set_control(tune_control);

		if (ret == -EINVAL) {
			PX4_WARN("Tune ID not recognized.");
		}

		while (tunes.get_next_tune(frequency, duration, silence, strength) > 0) {
			PX4_INFO("frequency: %d, duration %d, silence %d, strength%d",
				 frequency, duration, silence, strength);
			px4_usleep(500000);
			exit_counter++;

			// exit if the loop is doing too many iterations
			if (exit_counter > MAX_NOTE_ITERATION) {
				break;
			}
		}

	} else if (!strcmp(argv[myoptind], "stop")) {
		PX4_INFO("Stopping playback...");
		tune_control.tune_id = 0;
		tune_control.frequency = 0;
		tune_control.duration = 0;
		tune_control.silence = 0;
		tune_control.tune_override = true;
		publish_tune_control(tune_control);
		// We wait the maximum update interval to ensure
		// The stop will not be overwritten
		px4_usleep(tunes.get_maximum_update_interval());

	}	else {
		usage();
		return 1;
	}

	return 0;
}