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uavcan: skip beep if CBRK_BUZZER circuit breaker set

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This commit is contained in:
Daniel Agar
2021-04-05 10:09:10 -04:00
parent 8e8826c516
commit e8d98c1f8a
1 changed files with 8 additions and 1 deletions
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src/drivers/uavcan/beep.cpp
+8 -1
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@@ -39,6 +39,8 @@
#include "beep.hpp" #include "beep.hpp"
#include <lib/circuit_breaker/circuit_breaker.h>
UavcanBeep::UavcanBeep(uavcan::INode &node) : UavcanBeep::UavcanBeep(uavcan::INode &node) :
_beep_pub(node), _beep_pub(node),
_timer(node) _timer(node)
@@ -47,6 +49,11 @@ UavcanBeep::UavcanBeep(uavcan::INode &node) :
int UavcanBeep::init() int UavcanBeep::init()
{ {
// don't initialize if CBRK_BUZZER circuit breaker is enabled.
if (circuit_breaker_enabled("CBRK_BUZZER", CBRK_BUZZER_KEY)) {
return 0;
}
/* /*
* Setup timer and call back function for periodic updates * Setup timer and call back function for periodic updates
*/ */
@@ -64,7 +71,7 @@ void UavcanBeep::periodic_update(const uavcan::TimerEvent &)
_tune_control_sub.copy(&_tune); _tune_control_sub.copy(&_tune);
if (_tune.timestamp > 0) { if (_tune.timestamp > 0) {
Tunes::ControlResult result = _tunes.set_control(_tune); Tunes::ControlResult result = _tunes.set_control(_tune);
_play_tone = (result == Tunes::ControlResult::Success) || (result == Tunes::ControlResult::AlreadyPlaying); _play_tone = (result == Tunes::ControlResult::Success) || (result == Tunes::ControlResult::AlreadyPlaying);
} }
} }