mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-20 03:13:44 +08:00
tunes:Refactor for maintenance
Adds a single file definition to provide a single point to add
new tunes and clearly understand, the useage: it need to be
stopped will it not allow interruption.
This commit is contained in:
David Sidrane
committed by
Lorenz Meier
Lorenz Meier
parent
250c561963
commit
ab26bd76ff
@@ -37,25 +37,19 @@
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#include "tunes.h"
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// initialise default tunes
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#define PX4_DEFINE_TUNE(ordinal,name,tune,interruptable) tune,
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// Initialize default tunes
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const char *const Tunes::_default_tunes[] = {
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"", // empty to align with the index
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"MFT240L8 O4aO5dc O4aO5dc O4aO5dc L16dcdcdcdc", // startup tune
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"MBT200a8a8a8PaaaP", // ERROR tone
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"MFT200e8a8a", // Notify Positive tone
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"MFT200e8e", // Notify Neutral tone
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"MFT200e8c8e8c8e8c8", // Notify Negative tone
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"MNT75L1O2G", //arming warning
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"MBNT100a8", //battery warning slow
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"MBNT255a8a8a8a8a8a8a8a8a8a8a8a8a8a8a8a8", //battery warning fast
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"MFT255L4AAAL1F#", //gps warning slow
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"MFT255L4<<<BAP", // arming failure tune
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"MFT255L16agagagag", // parachute release
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"MFT255L8ddd#d#eeff", // ekf warning
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"MFT255L4gf#fed#d", // baro warning
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"MFT100a8", // single beep
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"MFT100L4>G#6A#6B#4", // home set tune
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#include "tune_definition.desc"
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};
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#undef PX4_DEFINE_TUNE
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#define PX4_DEFINE_TUNE(ordinal,name,tune,interruptable) interruptable,
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// Initialize default tunes
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const bool Tunes::_default_tunes_interruptable[] = {
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#include "tune_definition.desc"
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};
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#undef PX4_DEFINE_TUNE
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// set default_tunes array size
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const unsigned int Tunes::_default_tunes_size = sizeof(_default_tunes) / sizeof(_default_tunes[0]);
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@@ -0,0 +1,108 @@
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/****************************************************************************
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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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* Driver for the PX4 audio .
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*
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* The tune_control supports a set of predefined "alarm" tunes and
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* one user-supplied tune.
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*
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* Tunes follow the syntax of the Microsoft GWBasic/QBasic PLAY
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* statement, with some exceptions and extensions.
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*
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* From Wikibooks:
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*
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* PLAY "[string expression]"
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*
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* Used to play notes and a score ... The tones are indicated by letters A through G.
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* Accidentals are indicated with a "+" or "#" (for sharp) or "-" (for flat)
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* immediately after the note letter. See this example:
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*
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* PLAY "C C# C C#"
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*
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* Whitespaces are ignored inside the string expression. There are also codes that
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* set the duration, octave and tempo. They are all case-insensitive. PLAY executes
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* the commands or notes the order in which they appear in the string. Any indicators
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* that change the properties are effective for the notes following that indicator.
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*
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* Ln Sets the duration (length) of the notes. The variable n does not indicate an actual duration
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* amount but rather a note type; L1 - whole note, L2 - half note, L4 - quarter note, etc.
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* (L8, L16, L32, L64, ...). By default, n = 4.
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* For triplets and quintets, use L3, L6, L12, ... and L5, L10, L20, ... series respectively.
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* The shorthand notation of length is also provided for a note. For example, "L4 CDE L8 FG L4 AB"
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* can be shortened to "L4 CDE F8G8 AB". F and G play as eighth notes while others play as quarter notes.
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* On Sets the current octave. Valid values for n are 0 through 6. An octave begins with C and ends with B.
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* Remember that C- is equivalent to B.
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* < > Changes the current octave respectively down or up one level.
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* Nn Plays a specified note in the seven-octave range. Valid values are from 0 to 84. (0 is a pause.)
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* Cannot use with sharp and flat. Cannot use with the shorthand notation neither.
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* MN Stand for Music Normal. Note duration is 7/8ths of the length indicated by Ln. It is the default mode.
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* ML Stand for Music Legato. Note duration is full length of that indicated by Ln.
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* MS Stand for Music Staccato. Note duration is 3/4ths of the length indicated by Ln.
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* Pn Causes a silence (pause) for the length of note indicated (same as Ln).
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* Tn Sets the number of "L4"s per minute (tempo). Valid values are from 32 to 255. The default value is T120.
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* . When placed after a note, it causes the duration of the note to be 3/2 of the set duration.
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* This is how to get "dotted" notes. "L4 C#." would play C sharp as a dotted quarter note.
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* It can be used for a pause as well.
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*
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* Extensions/variations:
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*
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* MB MF The MF command causes the tune to play once and then stop. The MB command causes the
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* tune to repeat when it ends.
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*
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*/
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// ordinal name tune interruptable* hint
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// * Repeated tunes should always be defined as interruptable, if not an explict 'tone_control stop' is needed
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PX4_DEFINE_TUNE(0, CUSTOM, "", true /* empty to align with the index */)
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PX4_DEFINE_TUNE(1, STARTUP, "MFT240L8 O4aO5dc O4aO5dc O4aO5dc L16dcdcdcdc", true /* startup tune */)
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PX4_DEFINE_TUNE(2, ERROR_TUNE, "MBT200a8a8a8PaaaP", true /* ERROR tone */)
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PX4_DEFINE_TUNE(3, NOTIFY_POSITIVE, "MFT200e8a8a", true /* Notify Positive tone */)
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PX4_DEFINE_TUNE(4, NOTIFY_NEUTRAL, "MFT200e8e", true /* Notify Neutral tone */)
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PX4_DEFINE_TUNE(5, NOTIFY_NEGATIVE, "MFT200e8c8e8c8e8c8", true /* Notify Negative tone */)
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PX4_DEFINE_TUNE(6, ARMING_WARNING, "MNT75L1O2G", false /* arming warning */)
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PX4_DEFINE_TUNE(7, BATTERY_WARNING_SLOW, "MBNT100a8", true /* battery warning slow */)
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PX4_DEFINE_TUNE(8, BATTERY_WARNING_FAST, "MBNT255a8a8a8a8a8a8a8a8a8a8a8a8a8a8a8a8", true /* battery warning fast */)
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PX4_DEFINE_TUNE(9, GPS_WARNING, "MFT255L4AAAL1F#", false /* gps warning slow */)
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PX4_DEFINE_TUNE(10, ARMING_FAILURE, "MFT255L4<<<BAP", false /* arming failure tune */)
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PX4_DEFINE_TUNE(11, PARACHUTE_RELEASE, "MFT255L16agagagag", false /* parachute release */)
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PX4_DEFINE_TUNE(12, EKF_WARNING, "MFT255L8ddd#d#eeff", false /* ekf warning */)
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PX4_DEFINE_TUNE(13, BARO_WARNING, "MFT255L4gf#fed#d", false /* baro warning */)
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PX4_DEFINE_TUNE(14, SINGLE_BEEP, "MFT100a8", false /* single beep */)
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PX4_DEFINE_TUNE(15, HOME_SET, "MFT100L4>G#6A#6B#4", false /* home set tune */)
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PX4_DEFINE_TUNE(16, SD_INIT, "MBAGP", false /* Make FS */)
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PX4_DEFINE_TUNE(17, SD_ERROR, "MNBG", false /* format failed */)
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PX4_DEFINE_TUNE(18, PROG_PX4IO, "MLL32CP8MB", false /* Program PX4IO */)
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PX4_DEFINE_TUNE(19, PROG_PX4IO_OK, "MLL8CDE", false /* Program PX4IO success */)
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PX4_DEFINE_TUNE(20, PROG_PX4IO_ERR, "ML<<CP4CP4CP4CP4CP4", true /* Program PX4IO fail */)
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@@ -33,21 +33,9 @@
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#pragma once
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#define PX4_DEFINE_TUNE(ordinal,name,tune,interruptable) name,
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enum class TuneID {
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CUSTOM = 0,
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STARTUP,
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ERROR_TUNE,
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NOTIFY_POSITIVE,
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NOTIFY_NEUTRAL,
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NOTIFY_NEGATIVE,
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ARMING_WARNING,
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BATTERY_WARNING_SLOW,
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BATTERY_WARNING_FAST,
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GPS_WARNING,
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ARMING_FAILURE,
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PARACHUTE_RELEASE,
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EKF_WARNING,
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BARO_WARNING,
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SINGLE_BEEP,
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HOME_SET
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#include "tune_definition.desc"
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NONE = -1
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};
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#undef PX4_DEFINE_TUNE
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+8
-10
@@ -92,15 +92,10 @@ int Tunes::set_control(const tune_control_s &tune_control)
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return -EINVAL;
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}
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// Accept new tune ?
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if (_repeat || // Repeated tunes can always be interrupted
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_tune == nullptr || // No tune is currently being played
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// Accept new tune or a stop ?
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if (_tune == nullptr || // No tune is currently being played
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tune_control.tune_override || // Override interrupts everything
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tune_control.tune_id == static_cast<int>(TuneID::STARTUP) ||
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tune_control.tune_id == static_cast<int>(TuneID::ERROR_TUNE) ||
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tune_control.tune_id == static_cast<int>(TuneID::NOTIFY_POSITIVE) ||
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tune_control.tune_id == static_cast<int>(TuneID::NOTIFY_NEUTRAL) ||
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tune_control.tune_id == static_cast<int>(TuneID::NOTIFY_NEGATIVE)) {
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_default_tunes_interruptable[_current_tune_id]) {
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// Reset repeat flag. Can jump to true again while tune is being parsed later
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_repeat = false;
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@@ -116,6 +111,7 @@ int Tunes::set_control(const tune_control_s &tune_control)
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_strength = TUNE_MAX_STRENGTH;
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}
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// Special treatment for custom tunes
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if (tune_control.tune_id == static_cast<int>(TuneID::CUSTOM)) {
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_using_custom_msg = true;
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@@ -126,9 +122,11 @@ int Tunes::set_control(const tune_control_s &tune_control)
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} else {
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_using_custom_msg = false;
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_tune = _default_tunes[tune_control.tune_id];
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_tune_start_ptr = _default_tunes[tune_control.tune_id];
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_tune_start_ptr = _tune;
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_next = _tune;
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}
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_current_tune_id = tune_control.tune_id;
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}
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return OK;
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@@ -171,7 +169,7 @@ int Tunes::get_next_tune(unsigned &frequency, unsigned &duration,
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int Tunes::get_next_tune(unsigned &frequency, unsigned &duration,
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unsigned &silence)
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{
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// Return the vaules for frequency and duration if the custom msg was received
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// Return the values for frequency and duration if the custom msg was received
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if (_using_custom_msg) {
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_using_custom_msg = false;
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frequency = _frequency;
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@@ -127,8 +127,10 @@ public:
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private:
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static const char *const _default_tunes[];
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static const bool _default_tunes_interruptable[];
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static const uint8_t _note_tab[];
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static const unsigned int _default_tunes_size;
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int _current_tune_id = static_cast<int>(TuneID::NONE);
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bool _repeat = false; ///< if true, tune restarts at end
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const char *_tune = nullptr; ///< current tune string
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const char *_next = nullptr; ///< next note in the string
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@@ -81,7 +81,8 @@ static void publish_tune_control(tune_control_s &tune_control)
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tune_control.timestamp = hrt_absolute_time();
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if (tune_control_pub == nullptr) {
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tune_control_pub = orb_advertise(ORB_ID(tune_control), &tune_control);
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// We have a minimum of 3 so that tune, stop, tune will fit
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tune_control_pub = orb_advertise_queue(ORB_ID(tune_control), &tune_control, 3);
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} else {
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orb_publish(ORB_ID(tune_control), tune_control_pub, &tune_control);
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@@ -233,6 +234,9 @@ tune_control_main(int argc, char *argv[])
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tune_control.silence = 0;
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tune_control.tune_override = true;
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publish_tune_control(tune_control);
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// We wait the maximum update interval to ensure
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// The stop will not be overwritten
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usleep(tunes.get_maximum_update_interval());
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} else {
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usage();
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