ardupilot/libraries/AP_Notify/ToneAlarm.h

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/*
* ToneAlarm driver
*/
/*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include "NotifyDevice.h"
#include "MMLPlayer.h"
// wait 2 seconds before assuming a tone is done and continuing the continuous tone
#define AP_NOTIFY_TONEALARM_MAX_TONE_LENGTH_MS 2000
#define AP_NOTIFY_TONEALARM_TONE_BUF_SIZE 100
class AP_ToneAlarm: public NotifyDevice {
public:
/// init - initialised the tone alarm
bool init(void) override;
/// update - updates led according to timed_updated. Should be called at 50Hz
void update() override;
// handle a PLAY_TUNE message
void handle_play_tune(mavlink_message_t *msg) override;
// play_tune - play tone specified by the provided string of notes
void play_tune(const char *tune) override;
private:
/// play_tune - play one of the pre-defined tunes
void play_tone(const uint8_t tone_index);
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// stop_cont_tone - stop playing the currently playing continuous tone
void stop_cont_tone();
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// check_cont_tone - check if we should begin playing a continuous tone
void check_cont_tone();
// timer task - runs at 1khz
void _timer_task();
/// tonealarm_type - bitmask of states we track
struct tonealarm_type {
uint16_t armed : 1; // 0 = disarmed, 1 = armed
uint16_t failsafe_battery : 1; // 1 if battery failsafe
uint16_t parachute_release : 1; // 1 if parachute is being released
uint16_t pre_arm_check : 1; // 0 = failing checks, 1 = passed
uint16_t failsafe_radio : 1; // 1 if radio failsafe
uint16_t vehicle_lost : 1; // 1 if lost copter tone requested
uint16_t compass_cal_running : 1; // 1 if compass calibration is running
uint16_t waiting_for_throw : 1; // 1 if waiting for copter throw launch
uint16_t leak_detected : 1; // 1 if leak detected
uint16_t powering_off : 1; // 1 if smart battery is powering off
} flags;
bool _have_played_ready_tone : 1;
int8_t _cont_tone_playing;
int8_t _tone_playing;
uint32_t _tone_beginning_ms;
struct Tone {
const char *str;
const uint8_t continuous : 1;
};
const static Tone _tones[];
HAL_Semaphore _sem;
MMLPlayer _mml_player;
char _tone_buf[AP_NOTIFY_TONEALARM_TONE_BUF_SIZE];
};