/**************************************************************************** * * Copyright (C) 2013-2020 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions * are met: * * 1. Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. * 2. Redistributions in binary form must reproduce the above copyright * notice, this list of conditions and the following disclaimer in * the documentation and/or other materials provided with the * distribution. * 3. Neither the name PX4 nor the names of its contributors may be * used to endorse or promote products derived from this software * without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE * POSSIBILITY OF SUCH DAMAGE. * ****************************************************************************/ /** * @file ToneAlarm.cpp */ #include "ToneAlarm.h" #include #include using namespace time_literals; ToneAlarm::ToneAlarm() : ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default) { // ensure ORB_ID(tune_control) is advertised with correct queue depth orb_advertise_queue(ORB_ID(tune_control), nullptr, tune_control_s::ORB_QUEUE_LENGTH); } ToneAlarm::~ToneAlarm() { ToneAlarmInterface::stop_note(); } bool ToneAlarm::Init() { // NOTE: Implement hardware specific detail in the ToneAlarmInterface class implementation. ToneAlarmInterface::init(); _tune_control_sub.set_interval_us(10_ms); if (!_tune_control_sub.registerCallback()) { PX4_ERR("tune_control callback registration failed!"); return PX4_ERROR; } ScheduleNow(); return true; } void ToneAlarm::InterruptStopNote(void *arg) { ToneAlarmInterface::stop_note(); } void ToneAlarm::Run() { // Check if circuit breaker is enabled. if (!_circuit_break_initialized) { if (circuit_breaker_enabled("CBRK_BUZZER", CBRK_BUZZER_KEY)) { request_stop(); } _circuit_break_initialized = true; } if (should_exit()) { _tune_control_sub.unregisterCallback(); exit_and_cleanup(); return; } // Check for next tune_control when not currently playing if (_tune_control_sub.updated()) { tune_control_s tune_control; if (_tune_control_sub.copy(&tune_control)) { if (tune_control.timestamp > 0) { Tunes::ControlResult tune_result = _tunes.set_control(tune_control); switch (tune_result) { case Tunes::ControlResult::Success: PX4_DEBUG("new tune %d", tune_control.tune_id); if (tune_control.tune_override) { // clear existing ToneAlarmInterface::stop_note(); _next_note_time = 0; hrt_cancel(&_hrt_call); } _play_tone = true; #if (!defined(TONE_ALARM_TIMER) && !defined(GPIO_TONE_ALARM_GPIO)) || defined(DEBUG_BUILD) switch (tune_control.tune_id) { case tune_control_s::TUNE_ID_STARTUP: PX4_INFO("startup tune"); break; case tune_control_s::TUNE_ID_ERROR: PX4_ERR("error tune"); break; case tune_control_s::TUNE_ID_NOTIFY_POSITIVE: PX4_INFO("notify positive"); break; case tune_control_s::TUNE_ID_NOTIFY_NEUTRAL: PX4_INFO("notify neutral"); break; case tune_control_s::TUNE_ID_NOTIFY_NEGATIVE: PX4_INFO("notify negative"); break; case tune_control_s::TUNE_ID_ARMING_WARNING: PX4_INFO("arming warning"); break; case tune_control_s::TUNE_ID_BATTERY_WARNING_SLOW: PX4_INFO("battery warning (slow)"); break; case tune_control_s::TUNE_ID_BATTERY_WARNING_FAST: PX4_INFO("battery warning (fast)"); break; case tune_control_s::TUNE_ID_ARMING_FAILURE: PX4_ERR("arming failure"); break; case tune_control_s::TUNE_ID_SINGLE_BEEP: PX4_INFO("beep"); break; case tune_control_s::TUNE_ID_HOME_SET: PX4_INFO("home set"); break; } #endif // (!TONE_ALARM_TIMER && !GPIO_TONE_ALARM_GPIO) || DEBUG_BUILD break; case Tunes::ControlResult::WouldInterrupt: // otherwise re-publish tune to process next PX4_DEBUG("tune already playing, requeing tune: %d", tune_control.tune_id); { uORB::Publication tune_control_pub{ORB_ID(tune_control)}; tune_control.timestamp = hrt_absolute_time(); tune_control_pub.publish(tune_control); } break; case Tunes::ControlResult::InvalidTune: PX4_WARN("Invalid tune: %d", tune_control.tune_id); break; case Tunes::ControlResult::AlreadyPlaying: // Do nothing break; } } } } unsigned int frequency = 0; unsigned int duration = 0; unsigned int silence_length = 0; // Does an inter-note silence occur? if ((_next_note_time != 0) && (hrt_absolute_time() < _next_note_time)) { PX4_DEBUG("inter-note silence"); ScheduleAt(_next_note_time); } else if (_play_tone && (_tunes.get_next_note(frequency, duration, silence_length) == Tunes::Status::Continue)) { PX4_DEBUG("Play frequency: %d, duration: %d us, silence: %d us", frequency, duration, silence_length); if (frequency > 0) { // Start playing the note. const hrt_abstime time_started = ToneAlarmInterface::start_note(frequency); if (time_started > 0) { // schedule stop with HRT hrt_call_at(&_hrt_call, time_started + duration, (hrt_callout)&InterruptStopNote, this); _next_note_time = time_started + duration + silence_length; // schedule next note ScheduleAt(_next_note_time); } } else { // A frequency of 0 corresponds to ToneAlarmInterface::stop_note() _next_note_time = hrt_absolute_time() + duration + silence_length; ToneAlarmInterface::stop_note(); ScheduleAt(_next_note_time); } } else { PX4_DEBUG("stopping"); ToneAlarmInterface::stop_note(); _play_tone = false; _next_note_time = 0; } // if done playing and a new tune_control is still available re-schedule if (!Scheduled() && _tune_control_sub.updated()) { ScheduleDelayed(_tunes.get_maximum_update_interval()); } } int ToneAlarm::task_spawn(int argc, char *argv[]) { ToneAlarm *instance = new ToneAlarm(); if (!instance) { PX4_ERR("alloc failed"); return -1; } if (!instance->Init()) { delete instance; return PX4_ERROR; } _object.store(instance); _task_id = task_id_is_work_queue; return PX4_OK; } int ToneAlarm::print_usage(const char *reason) { if (reason) { PX4_WARN("%s\n", reason); } PRINT_MODULE_DESCRIPTION( R"DESCR_STR( ### Description This module is responsible for the tone alarm. )DESCR_STR"); PRINT_MODULE_USAGE_NAME("tone_alarm", "driver"); PRINT_MODULE_USAGE_COMMAND("start"); PRINT_MODULE_USAGE_DEFAULT_COMMANDS(); return 0; } extern "C" __EXPORT int tone_alarm_main(int argc, char *argv[]) { return ToneAlarm::main(argc, argv); }