ardupilot/libraries/AP_HAL_Linux/Util.cpp

54 lines
1.0 KiB
C++

#include <AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
#include <stdio.h>
#include <stdarg.h>
#include <unistd.h>
#include <stdlib.h>
#include <errno.h>
extern const AP_HAL::HAL& hal;
#include "Util.h"
using namespace Linux;
static int state;
ToneAlarm LinuxUtil::_toneAlarm;
/**
return commandline arguments, if available
*/
void LinuxUtil::commandline_arguments(uint8_t &argc, char * const *&argv)
{
argc = saved_argc;
argv = saved_argv;
}
bool LinuxUtil::toneAlarm_init()
{
return _toneAlarm.init();
}
void LinuxUtil::toneAlarm_set_tune(uint8_t tone)
{
_toneAlarm.set_tune(tone);
}
void LinuxUtil::_toneAlarm_timer_tick(){
if(state == 0){
state = state + _toneAlarm.init_tune();
}else if(state == 1){
state = state + _toneAlarm.set_note();
}
if(state == 2){
state = state + _toneAlarm.play();
}else if(state == 3){
state = 1;
}
if(_toneAlarm.is_tune_comp()){
state = 0;
}
}
#endif // CONFIG_HAL_BOARD == HAL_BOARD_LINUX