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Dronecan fix beep driver

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This commit is contained in:
alexklimaj
2021-12-12 19:16:28 -07:00
committed by Daniel Agar
parent 67a893ac6d
commit 6133ef0d63
1 changed files with 12 additions and 19 deletions
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src/drivers/uavcan/beep.cpp
+12 -19
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@@ -45,7 +45,7 @@ UavcanBeep::UavcanBeep(uavcan::INode &node) :
_beep_pub(node),
_timer(node)
{
_beep_pub.setPriority(uavcan::TransferPriority::Default);
_beep_pub.setPriority(uavcan::TransferPriority::MiddleLower);
}
int UavcanBeep::init()
@@ -73,7 +73,10 @@ void UavcanBeep::periodic_update(const uavcan::TimerEvent &)
if (_tune.timestamp > 0) {
Tunes::ControlResult result = _tunes.set_control(_tune);
_play_tone = (result == Tunes::ControlResult::Success) || (result == Tunes::ControlResult::AlreadyPlaying);
if (result == Tunes::ControlResult::Success) {
_play_tone = true;
}
}
}
@@ -89,23 +92,13 @@ void UavcanBeep::periodic_update(const uavcan::TimerEvent &)
_duration = _silence_length;
_silence_length = 0;
} else if (_play_tone) {
Tunes::Status parse_ret_val = _tunes.get_next_note(_frequency, _duration, _silence_length);
} else if (_play_tone && (_tunes.get_next_note(_frequency, _duration, _silence_length) == Tunes::Status::Continue)) {
if (parse_ret_val == Tunes::Status::Continue) {
// Continue playing.
_play_tone = true;
if (_frequency > 0) {
// Start playing the note.
uavcan::equipment::indication::BeepCommand cmd{};
cmd.frequency = _frequency;
cmd.duration = _duration / 1000000.f;
_beep_pub.broadcast(cmd);
}
} else {
_play_tone = false;
}
// Start playing the note.
// A frequency of 0 corresponds to ToneAlarmInterface::stop_note()
uavcan::equipment::indication::BeepCommand cmd{};
cmd.frequency = _frequency;
cmd.duration = _duration / 1000000.f;
_beep_pub.broadcast(cmd);
}
}