mirror of https://github.com/ArduPilot/ardupilot
136 lines
3.6 KiB
C++
136 lines
3.6 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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simple buzzer simulator class
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*/
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#include <GCS_MAVLink/GCS.h>
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#include <SITL/SITL.h>
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#include "SIM_Buzzer.h"
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#ifdef WITH_SITL_TONEALARM
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#ifdef HAVE_SFML_AUDIO_H
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#include <SFML/Audio.h>
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#else
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#include <SFML/Audio.hpp>
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#endif
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// need to namespace this or we end up with multiple definitions of
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// things from Synth.hpp
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namespace BuzzerSynth {
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#include <AP_HAL_SITL/Synth.hpp>
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};
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#endif
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using namespace SITL;
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#ifdef WITH_SITL_TONEALARM
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// table of user settable parameters
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const AP_Param::GroupInfo Buzzer::var_info[] = {
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// @Param: ENABLE
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// @DisplayName: Buzzer enable/disable
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// @Description: Allows you to enable (1) or disable (0) the simulated buzzer
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// @Values: 0:Disabled,1:Enabled
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// @User: Advanced
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AP_GROUPINFO("ENABLE", 0, Buzzer, _enable, 0),
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// @Param: PIN
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// @DisplayName: buzzer pin
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// @Description: The pin number that the Buzzer is connected to (start at 1)
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// @Range: 0 15
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// @User: Advanced
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AP_GROUPINFO("PIN", 1, Buzzer, _pin, -1),
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AP_GROUPEND
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};
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static sf::SoundBuffer xsoundBuffer;
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static sf::Sound xdemoSound;
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static uint32_t duration_ms = 10000;
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Buzzer::Buzzer() {
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AP_Param::setup_object_defaults(this, var_info);
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};
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void Buzzer::update(const struct sitl_input &input)
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{
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// prepare buzz tone
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// BuzzerSynth::Synth::sEnvelope xenvelope;
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if (!prep_done) {
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BuzzerSynth::Synth::sEnvelope xenvelope;
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xenvelope.dAttackTime = 0.000001;
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xenvelope.dDecayTime = 0.000001;
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xenvelope.dSustainTime = 10;
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xenvelope.dReleaseTime = 0.00001;
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xenvelope.dStartAmplitude = 1.0;
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xenvelope.dSustainAmplitude = 1.0;
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const uint32_t frequency = 2000;
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BuzzerSynth::Synth::sTone tone;
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tone.waveType = BuzzerSynth::Synth::OSC_SQUARE;
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tone.dStartFrequency = frequency;
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tone.dEndFrequency = frequency;
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tone.dAmplitude = 1;
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xenvelope.dSustainTime = duration_ms/1000.0f;
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BuzzerSynth::Synth::generate(&xsoundBuffer, xenvelope, tone, 20000, 44100);
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xdemoSound.setBuffer(xsoundBuffer);
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prep_done = true;
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}
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const bool on = _pin >= 1 && (AP::sitl()->pin_mask.get() & (1<<_pin));
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const uint32_t now = AP_HAL::millis();
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if (on) {
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if (!was_on) {
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GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "%u: Buzzer on", now);
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on_time = now;
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was_on = true;
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xdemoSound.play();
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}
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if (now - on_time > duration_ms/2) {
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GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "%u: Buzzer on again", now);
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on_time = now;
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xdemoSound.play();
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}
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} else {
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if (was_on) {
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GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "%u: Buzzer off", now);
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xdemoSound.stop();
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was_on = false;
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}
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}
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}
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#else
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using namespace SITL;
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const AP_Param::GroupInfo Buzzer::var_info[] = { AP_GROUPEND };
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Buzzer::Buzzer() { };
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void Buzzer::update(const struct sitl_input &input) {}
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#endif
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