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commander: beeps and blinks cleanup

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This commit is contained in:
Anton Babushkin
2014-02-11 00:24:40 +01:00
parent 6631ecf04a
commit 855944fb2e
5 changed files with 76 additions and 74 deletions
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86
src/modules/commander/commander_helper.cpp
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@@ -45,6 +45,7 @@
#include <stdbool.h>
#include <fcntl.h>
#include <math.h>
#include <string.h>
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_status.h>
@@ -82,10 +83,21 @@ bool is_rotary_wing(const struct vehicle_status_s *current_status)
}
static int buzzer;
static hrt_abstime blink_msg_end;
static hrt_abstime blink_msg_end = 0; // end time for currently blinking LED message, 0 if no blink message
static hrt_abstime tune_end = 0; // end time of currently played tune, 0 for repeating tunes or silence
static int tune_current = 0; // currently playing tune, can be interrupted after tune_end
static int tune_durations[TONE_NUMBER_OF_TUNES];
int buzzer_init()
{
tune_end = 0;
tune_current = 0;
memset(tune_durations, 0, sizeof(tune_durations));
tune_durations[TONE_NOTIFY_POSITIVE_TUNE] = 700000;
tune_durations[TONE_NOTIFY_NEGATIVE_TUNE] = 700000;
tune_durations[TONE_NOTIFY_NEUTRAL_TUNE] = 700000;
tune_durations[TONE_ARMING_WARNING_TUNE] = 3000000;
buzzer = open(TONEALARM_DEVICE_PATH, O_WRONLY);
if (buzzer < 0) {
@@ -93,6 +105,8 @@ int buzzer_init()
return ERROR;
}
ioctl(buzzer, TONE_SET_ALARM, TONE_STOP_TUNE);
return OK;
}
@@ -101,58 +115,60 @@ void buzzer_deinit()
close(buzzer);
}
void tune_error()
{
ioctl(buzzer, TONE_SET_ALARM, TONE_ERROR_TUNE);
void set_tune(int tune) {
int new_tune_duration = tune_durations[tune];
/* don't interrupt currently playing non-repeating tune by repeating */
if (tune_end == 0 || new_tune_duration > 0 || hrt_absolute_time() > tune_end) {
/* allow interrupting current non-repeating tune by the same tune */
if (tune != tune_current || new_tune_duration > 0) {
ioctl(buzzer, TONE_SET_ALARM, tune);
}
tune_current = tune;
if (new_tune_duration > 0) {
tune_end = hrt_absolute_time() + new_tune_duration;
} else {
tune_end = 0;
}
}
}
void tune_positive()
/**
* Blink green LED and play positive tune (if use_busser == true).
*/
void tune_positive(bool use_buzzer)
{
blink_msg_end = hrt_absolute_time() + BLINK_MSG_TIME;
rgbled_set_color(RGBLED_COLOR_GREEN);
rgbled_set_mode(RGBLED_MODE_BLINK_FAST);
ioctl(buzzer, TONE_SET_ALARM, TONE_NOTIFY_POSITIVE_TUNE);
if (use_buzzer) {
set_tune(TONE_NOTIFY_POSITIVE_TUNE);
}
}
void tune_neutral()
/**
* Blink white LED and play neutral tune (if use_busser == true).
*/
void tune_neutral(bool use_buzzer)
{
blink_msg_end = hrt_absolute_time() + BLINK_MSG_TIME;
rgbled_set_color(RGBLED_COLOR_WHITE);
rgbled_set_mode(RGBLED_MODE_BLINK_FAST);
ioctl(buzzer, TONE_SET_ALARM, TONE_NOTIFY_NEUTRAL_TUNE);
if (use_buzzer) {
set_tune(TONE_NOTIFY_NEUTRAL_TUNE);
}
}
void tune_negative()
{
led_negative();
ioctl(buzzer, TONE_SET_ALARM, TONE_NOTIFY_NEGATIVE_TUNE);
}
void led_negative()
/**
* Blink red LED and play negative tune (if use_busser == true).
*/
void tune_negative(bool use_buzzer)
{
blink_msg_end = hrt_absolute_time() + BLINK_MSG_TIME;
rgbled_set_color(RGBLED_COLOR_RED);
rgbled_set_mode(RGBLED_MODE_BLINK_FAST);
}
int tune_arm()
{
return ioctl(buzzer, TONE_SET_ALARM, TONE_ARMING_WARNING_TUNE);
}
int tune_low_bat()
{
return ioctl(buzzer, TONE_SET_ALARM, TONE_BATTERY_WARNING_SLOW_TUNE);
}
int tune_critical_bat()
{
return ioctl(buzzer, TONE_SET_ALARM, TONE_BATTERY_WARNING_FAST_TUNE);
}
void tune_stop()
{
ioctl(buzzer, TONE_SET_ALARM, TONE_STOP_TUNE);
if (use_buzzer) {
set_tune(TONE_NOTIFY_NEGATIVE_TUNE);
}
}
int blink_msg_state()