ardupilot/libraries/AP_Notify/ToneAlarm_PX4.h

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/*
ToneAlarm PX4 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"
// wait 2 seconds before assuming a tone is done and continuing the continuous tone
#define AP_NOTIFY_PX4_MAX_TONE_LENGTH_MS 2000
class ToneAlarm_PX4: public NotifyDevice
{
public:
/// init - initialised the tone alarm
bool init(void);
/// update - updates led according to timed_updated. Should be called at 50Hz
void update();
// handle a PLAY_TUNE message
void handle_play_tune(mavlink_message_t *msg);
private:
/// play_tune - play one of the pre-defined tunes
void play_tone(const uint8_t tone_index);
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// play_string - play tone specified by the provided string of notes
void play_string(const char *str);
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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();
int _tonealarm_fd; // file descriptor for the tone alarm
/// tonealarm_type - bitmask of states we track
struct tonealarm_type {
uint8_t armed : 1; // 0 = disarmed, 1 = armed
uint8_t failsafe_battery : 1; // 1 if battery failsafe
uint8_t parachute_release : 1; // 1 if parachute is being released
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uint8_t pre_arm_check : 1; // 0 = failing checks, 1 = passed
uint8_t failsafe_radio : 1; // 1 if radio failsafe
uint8_t vehicle_lost : 1; // 1 if lost copter tone requested
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uint8_t compass_cal_running : 1; // 1 if compass calibration is running
uint8_t waiting_for_throw : 1; // 1 if waiting for copter throw launch
} flags;
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[];
};