mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-22 11:17:35 +08:00
Daniel Agar
08bf71b73d
- drivers/tone_alarm: move to ModuleBase and purge CDev (/dev/tone_alarm0) - drivers/tone_alarm: only run on tune_control publication (or scheduled note) rather than continuously - drivers/tone_alarm: use HRT to schedule tone stop (prevents potential disruption) - msg/tune_control: add tune_id numbering - systemcmds/tune_control: add "error" special case tune_id - move all tune_control publication to new uORB::PublicationQueued<> - start tone_alarm immediately after board defaults are loaded to fix potential startup issues - for SITL (or other boards with no TONE output) print common messages (startup, error, etc)
103 lines
3.0 KiB
C++
103 lines
3.0 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2018 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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/**
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* @file rc_loss_alarm.cpp
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*
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*/
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#include "rc_loss_alarm.h"
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#include <px4_platform_common/defines.h>
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#include <drivers/drv_hrt.h>
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#include <stdint.h>
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#include <tunes/tune_definition.h>
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namespace events
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{
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namespace rc_loss
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{
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void RC_Loss_Alarm::process()
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{
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vehicle_status_s status{};
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if (!_vehicle_status_sub.update(&status)) {
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return;
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}
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if (!_was_armed &&
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status.arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
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_was_armed = true; // Once true, impossible to go back to false
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}
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if (!_had_rc && !status.rc_signal_lost) {
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_had_rc = true;
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}
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if (_was_armed && _had_rc && status.rc_signal_lost &&
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status.arming_state != vehicle_status_s::ARMING_STATE_ARMED) {
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play_tune();
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_alarm_playing = true;
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} else if (_alarm_playing) {
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stop_tune();
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_alarm_playing = false;
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}
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}
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void RC_Loss_Alarm::play_tune()
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{
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tune_control_s tune_control{};
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tune_control.tune_id = tune_control_s::TUNE_ID_ERROR;
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tune_control.tune_override = true;
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tune_control.volume = tune_control_s::VOLUME_LEVEL_MAX;
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tune_control.timestamp = hrt_absolute_time();
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_tune_control_pub.publish(tune_control);
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}
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void RC_Loss_Alarm::stop_tune()
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{
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tune_control_s tune_control{};
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tune_control.tune_override = true;
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tune_control.timestamp = hrt_absolute_time();
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_tune_control_pub.publish(tune_control);
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}
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} /* namespace rc_loss */
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} /* namespace events */
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