AP_Notify: added handling of PLAY_TUNE message

libraries/AP_Notify/AP_Notify.cpp

@@ -171,3 +171,11 @@ void AP_Notify::handle_led_control(mavlink_message_t *msg)
         _devices[i]->handle_led_control(msg);
     }
 }
+
+// handle a PLAY_TUNE message
+void AP_Notify::handle_play_tune(mavlink_message_t *msg)
+{
+    for (uint8_t i = 0; i < CONFIG_NOTIFY_DEVICES_COUNT; i++) {
+        _devices[i]->handle_play_tune(msg);
+    }
+}

libraries/AP_Notify/AP_Notify.h

@@ -107,6 +107,9 @@ public:
     // handle a LED_CONTROL message
     static void handle_led_control(mavlink_message_t* msg);
 
+    // handle a PLAY_TUNE message
+    static void handle_play_tune(mavlink_message_t* msg);
+    
     static const struct AP_Param::GroupInfo var_info[];
 
     bool buzzer_enabled() const { return _buzzer_enable; }

libraries/AP_Notify/NotifyDevice.h

@@ -13,9 +13,13 @@ public:
     // update - updates device according to timed_updated.  Should be
     // called at 50Hz
     virtual void update() = 0;
+
     // handle a LED_CONTROL message, by default device ignore message
     virtual void handle_led_control(mavlink_message_t *msg) {}
 
+    // handle a PLAY_TUNE message, by default device ignore message
+    virtual void handle_play_tune(mavlink_message_t *msg) {}
+    
     // this pointer is used to read the parameters relative to devices
     const AP_Notify *pNotify;
 };

libraries/AP_Notify/ToneAlarm_PX4.cpp

@@ -336,4 +336,19 @@ void ToneAlarm_PX4::update()
     }
 }
 
+
+/*
+  handle a PLAY_TUNE message
+*/
+void ToneAlarm_PX4::handle_play_tune(mavlink_message_t *msg)
+{
+    // decode mavlink message
+    mavlink_play_tune_t packet;
+    
+    mavlink_msg_play_tune_decode(msg, &packet);
+
+    play_string(packet.tune);
+}
+
+
 #endif // CONFIG_HAL_BOARD == HAL_BOARD_PX4

libraries/AP_Notify/ToneAlarm_PX4.h

@@ -31,6 +31,9 @@ public:
     /// 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);