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AP_Notify: add ToneAlarm_PX4_Solo
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@jschall @tridge
jschall authored and tridge committed Apr 21, 2016
1 parent 19f80db commit a7f959e
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Showing 4 changed files with 430 additions and 1 deletion.
8 changes: 7 additions & 1 deletion libraries/AP_Notify/AP_Notify.cpp
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Expand Up @@ -25,6 +25,7 @@
#include "RCOutputRGBLed.h"
#include "ToneAlarm_Linux.h"
#include "ToneAlarm_PX4.h"
#include "ToneAlarm_PX4_Solo.h"
#include "ToshibaLED.h"
#include "ToshibaLED_I2C.h"
#include "ToshibaLED_PX4.h"
Expand Down Expand Up @@ -64,9 +65,14 @@ struct AP_Notify::notify_events_type AP_Notify::events;
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
AP_BoardLED boardled;
ToshibaLED_PX4 toshibaled;

#if AP_NOTIFY_SOLO_TONES == 1
ToneAlarm_PX4_Solo tonealarm;
#else
ToneAlarm_PX4 tonealarm;
#endif

#ifdef OREOLED_ENABLED
#if AP_NOTIFY_OREOLED == 1
OreoLED_PX4 oreoled;
NotifyDevice *AP_Notify::_devices[] = {&boardled, &toshibaled, &tonealarm, &oreoled};
#else
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9 changes: 9 additions & 0 deletions libraries/AP_Notify/AP_Notify.h
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Expand Up @@ -22,6 +22,15 @@

#include "NotifyDevice.h"


#ifndef AP_NOTIFY_OREOLED
#define AP_NOTIFY_OREOLED 0
#endif

#ifndef AP_NOTIFY_SOLO_TONES
#define AP_NOTIFY_SOLO_TONES 0
#endif

// Device parameters values
#define RGB_LED_OFF 0
#define RGB_LED_LOW 1
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335 changes: 335 additions & 0 deletions libraries/AP_Notify/ToneAlarm_PX4_Solo.cpp
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@@ -0,0 +1,335 @@
/*
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/>.
*/

#include <AP_HAL/AP_HAL.h>

#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
#include "ToneAlarm_PX4_Solo.h"
#include "AP_Notify.h"

#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <unistd.h>
#include <string.h>

#include <drivers/drv_tone_alarm.h>
#include <stdio.h>
#include <errno.h>

extern const AP_HAL::HAL& hal;

const ToneAlarm_PX4_Solo::Tone ToneAlarm_PX4_Solo::_tones[] {
#define AP_NOTIFY_PX4_TONE_QUIET_NEG_FEEDBACK 0
{ "MFMST100L64O2gg-feP64ee-dd-", false },
#define AP_NOTIFY_PX4_TONE_LOUD_NEG_FEEDBACK 1
{ "MFMST100L64O2gg-feP64ee-dd-", false },
#define AP_NOTIFY_PX4_TONE_QUIET_NEU_FEEDBACK 2
{ "MFMLT200L64O3f>c<P32f>c", false },
#define AP_NOTIFY_PX4_TONE_LOUD_NEU_FEEDBACK 3
{ "MFMLT200L64O3f>c<P32f>c", false },
#define AP_NOTIFY_PX4_TONE_QUIET_POS_FEEDBACK 4
{ "MFMST200L32O2g>cef#gb", false },
#define AP_NOTIFY_PX4_TONE_LOUD_POS_FEEDBACK 5
{ "MFMST200L32O2g>cef#gb", false },
#define AP_NOTIFY_PX4_TONE_LOUD_READY_OR_FINISHED 6
{ "MFMLT200L32O3cdef#gf#P32g>c<P64g>c", false },
#define AP_NOTIFY_PX4_TONE_QUIET_READY_OR_FINISHED 7
{ "MFMLT200L32O3cdef#gf#P32g>c<P64g>c", false },
#define AP_NOTIFY_PX4_TONE_LOUD_ATTENTION_NEEDED 8
{ "MFT100L4>B#B#B#B#", false },
#define AP_NOTIFY_PX4_TONE_QUIET_ARMING_WARNING 9
{ "MFMLT220L128O1cc#dd#eff#gg#aa#b>cc#dd#eff#gcc#dd#eff#gg#aa#b>cc#dd#eff#gcc#dd#eff#gcc#dd#eff#gg#aa#bP8L32<cg>cg>c", false },
#define AP_NOTIFY_PX4_TONE_QUIET_DISARMED 10
{ "MFMLT220L128O3cc#dd#eff#gcc#dd#eff#gP32cc#dd#eff#gcc#dd#eff#gcP8L20MS>>c<gc<gc<c<L10c", false },
#define AP_NOTIFY_PX4_TONE_LOUD_WP_COMPLETE 11
{ "MFT200L8G>C3", false },
#define AP_NOTIFY_PX4_TONE_LOUD_LAND_WARNING_CTS 12
{ "MBT200L2A-G-A-G-A-G-", true },
#define AP_NOTIFY_PX4_TONE_LOUD_VEHICLE_LOST_CTS 13
{ "MBT200>B#1", true },
#define AP_NOTIFY_PX4_TONE_LOUD_BATTERY_ALERT_CTS 14
{ "MBNT255>B#8B#8B#8B#8B#8B#8B#8B#8B#8B#8B#8B#8B#8B#8B#8B#8", true },
#define AP_NOTIFY_PX4_TONE_QUIET_COMPASS_CALIBRATING_CTS 15
{ "MBMLT100O3L512eP4eP16bP16bP2", true },
#define AP_NOTIFY_PX4_TONE_LOUD_GPS_DISCONNECTED 16
{ "MBMLT100O3L32dbaP16dP16", true },
#define AP_NOTIFY_PX4_TONE_QUIET_SHUTDOWN 17
{ "MFMST200L32O3ceP32cdP32ceP32c<c>c<cccP8L32>c>c<P32<c<c", false }
};

bool ToneAlarm_PX4_Solo::init()
{
// open the tone alarm device
_tonealarm_fd = open(TONEALARM0_DEVICE_PATH, O_WRONLY);
if (_tonealarm_fd == -1) {
hal.console->printf("ToneAlarm_PX4_Solo: Unable to open " TONEALARM0_DEVICE_PATH);
return false;
}

// set initial boot states. This prevents us issuing a arming
// warning in plane and rover on every boot
flags.armed = AP_Notify::flags.armed;
flags.failsafe_battery = AP_Notify::flags.failsafe_battery;
flags.pre_arm_check = 1;
flags.gps_connected = 1;
_cont_tone_playing = -1;
_gps_disconnected_time = 0;
_init_time = AP_HAL::millis();
return true;
}

// play_tune - play one of the pre-defined tunes
void ToneAlarm_PX4_Solo::play_tone(const uint8_t tone_index)
{
uint32_t tnow_ms = AP_HAL::millis();
const Tone &tone_requested = _tones[tone_index];

if(tone_requested.continuous) {
_cont_tone_playing = tone_index;
}

_tone_playing = tone_index;
_tone_beginning_ms = tnow_ms;

play_string(tone_requested.str);
}

void ToneAlarm_PX4_Solo::play_string(const char *str) {
write(_tonealarm_fd, str, strlen(str) + 1);
}

void ToneAlarm_PX4_Solo::stop_cont_tone() {
if(_cont_tone_playing == _tone_playing) {
play_string("");
_tone_playing = -1;
}
_cont_tone_playing = -1;
}

void ToneAlarm_PX4_Solo::check_cont_tone() {
uint32_t tnow_ms = AP_HAL::millis();
// if we are supposed to be playing a continuous tone,
// and it was interrupted, and the interrupting tone has timed out,
// resume the continuous tone

if (_cont_tone_playing != -1 && _tone_playing != _cont_tone_playing && tnow_ms-_tone_beginning_ms > AP_NOTIFY_PX4_MAX_TONE_LENGTH_MS) {
play_tone(_cont_tone_playing);
}
}

// update - updates led according to timed_updated. Should be called at 50Hz
void ToneAlarm_PX4_Solo::update()
{
// exit immediately if we haven't initialised successfully
if (_tonealarm_fd == -1) {
return;
}

check_cont_tone();

if (AP_Notify::flags.powering_off) {
if (!flags.powering_off) {
play_tone(AP_NOTIFY_PX4_TONE_QUIET_SHUTDOWN);
}
flags.powering_off = AP_Notify::flags.powering_off;
return;
}

if (AP_Notify::flags.compass_cal_running != flags.compass_cal_running) {
if(AP_Notify::flags.compass_cal_running) {
play_tone(AP_NOTIFY_PX4_TONE_QUIET_COMPASS_CALIBRATING_CTS);
play_tone(AP_NOTIFY_PX4_TONE_QUIET_POS_FEEDBACK);
} else {
if(_cont_tone_playing == AP_NOTIFY_PX4_TONE_QUIET_COMPASS_CALIBRATING_CTS) {
stop_cont_tone();
}
}
}
flags.compass_cal_running = AP_Notify::flags.compass_cal_running;

/*if (!hal.util->get_test_mode()) { //don't notify for GPS disconnection when under Jig
//play tone if UBLOX gps not detected : Solo Specific
if(AP_Notify::flags.initialising || AP_HAL::millis()-_init_time < 10000) {
_gps_disconnected_time = AP_HAL::millis();
}
if(!AP_Notify::flags.initialising && (AP_HAL::millis() - _gps_disconnected_time) > 10000){
if (AP_Notify::flags.gps_connected != flags.gps_connected) {
if(!AP_Notify::flags.gps_connected) {
play_tone(AP_NOTIFY_PX4_TONE_LOUD_GPS_DISCONNECTED);
} else {
if(_cont_tone_playing == AP_NOTIFY_PX4_TONE_LOUD_GPS_DISCONNECTED) {
stop_cont_tone();
}
}
}
flags.gps_connected = AP_Notify::flags.gps_connected;
}
} else {
if(_cont_tone_playing == AP_NOTIFY_PX4_TONE_LOUD_GPS_DISCONNECTED) {
stop_cont_tone();
}
}
if (flags.test_mode != hal.util->get_test_mode()) {
flags.test_mode = hal.util->get_test_mode();
if (hal.util->get_test_mode()) {
play_tone(AP_NOTIFY_PX4_TONE_LOUD_POS_FEEDBACK);
} else {
play_tone(AP_NOTIFY_PX4_TONE_LOUD_NEG_FEEDBACK);
}
return;
}*/

if (AP_Notify::events.compass_cal_canceled) {
play_tone(AP_NOTIFY_PX4_TONE_QUIET_NEU_FEEDBACK);
return;
}

if (AP_Notify::events.initiated_compass_cal) {
play_tone(AP_NOTIFY_PX4_TONE_QUIET_NEU_FEEDBACK);
return;
}

if (AP_Notify::events.compass_cal_saved) {
play_tone(AP_NOTIFY_PX4_TONE_QUIET_READY_OR_FINISHED);
return;
}

if (AP_Notify::events.compass_cal_failed) {
play_tone(AP_NOTIFY_PX4_TONE_QUIET_NEG_FEEDBACK);
return;
}

// don't play other tones if compass cal is running
if (AP_Notify::flags.compass_cal_running) {
return;
}

// notify the user when autotune or mission completes
if (AP_Notify::flags.armed && (AP_Notify::events.autotune_complete || AP_Notify::events.mission_complete)) {
play_tone(AP_NOTIFY_PX4_TONE_LOUD_READY_OR_FINISHED);
}

//notify the user when autotune fails
if (AP_Notify::flags.armed && (AP_Notify::events.autotune_failed)) {
play_tone(AP_NOTIFY_PX4_TONE_LOUD_NEG_FEEDBACK);
}

// notify the user when a waypoint completes
if (AP_Notify::events.waypoint_complete) {
play_tone(AP_NOTIFY_PX4_TONE_LOUD_WP_COMPLETE);
}

// notify the user when their mode change was successful
if (AP_Notify::events.user_mode_change) {
if (AP_Notify::flags.armed) {
play_tone(AP_NOTIFY_PX4_TONE_LOUD_NEU_FEEDBACK);
} else {
play_tone(AP_NOTIFY_PX4_TONE_QUIET_NEU_FEEDBACK);
}
}

// notify the user when their mode change failed
if (AP_Notify::events.user_mode_change_failed) {
if (AP_Notify::flags.armed) {
play_tone(AP_NOTIFY_PX4_TONE_LOUD_NEG_FEEDBACK);
} else {
play_tone(AP_NOTIFY_PX4_TONE_QUIET_NEG_FEEDBACK);
}
}

// failsafe initiated mode change
if(AP_Notify::events.failsafe_mode_change) {
play_tone(AP_NOTIFY_PX4_TONE_LOUD_ATTENTION_NEEDED);
}

// notify the user when arming fails
if (AP_Notify::events.arming_failed) {
play_tone(AP_NOTIFY_PX4_TONE_QUIET_NEG_FEEDBACK);
}

// notify the user when RC contact is lost
if (flags.failsafe_radio != AP_Notify::flags.failsafe_radio) {
flags.failsafe_radio = AP_Notify::flags.failsafe_radio;
if (flags.failsafe_radio) {
// armed case handled by events.failsafe_mode_change
if (!AP_Notify::flags.armed) {
play_tone(AP_NOTIFY_PX4_TONE_QUIET_NEG_FEEDBACK);
}
} else {
if (AP_Notify::flags.armed) {
play_tone(AP_NOTIFY_PX4_TONE_LOUD_POS_FEEDBACK);
} else {
play_tone(AP_NOTIFY_PX4_TONE_QUIET_POS_FEEDBACK);
}
}
}

// notify the user when pre_arm checks are passing
if (flags.pre_arm_check != AP_Notify::flags.pre_arm_check) {
flags.pre_arm_check = AP_Notify::flags.pre_arm_check;
if (flags.pre_arm_check) {
play_tone(AP_NOTIFY_PX4_TONE_QUIET_READY_OR_FINISHED);
}
}

// check if arming status has changed
if (flags.armed != AP_Notify::flags.armed) {
flags.armed = AP_Notify::flags.armed;
if (flags.armed) {
// arming tune
play_tone(AP_NOTIFY_PX4_TONE_QUIET_ARMING_WARNING);
}else{
// disarming tune
play_tone(AP_NOTIFY_PX4_TONE_QUIET_DISARMED);
stop_cont_tone();
}
}

// check if battery status has changed
if (flags.failsafe_battery != AP_Notify::flags.failsafe_battery) {
flags.failsafe_battery = AP_Notify::flags.failsafe_battery;
if (flags.failsafe_battery && !flags.armed) {
// battery warning tune
play_tone(AP_NOTIFY_PX4_TONE_LOUD_BATTERY_ALERT_CTS);
}
}

// check parachute release
if (flags.parachute_release != AP_Notify::flags.parachute_release) {
flags.parachute_release = AP_Notify::flags.parachute_release;
if (flags.parachute_release) {
// parachute release warning tune
play_tone(AP_NOTIFY_PX4_TONE_LOUD_ATTENTION_NEEDED);
}
}

// lost vehicle tone
if (flags.vehicle_lost != AP_Notify::flags.vehicle_lost) {
flags.vehicle_lost = AP_Notify::flags.vehicle_lost;
if (flags.vehicle_lost) {
play_tone(AP_NOTIFY_PX4_TONE_LOUD_VEHICLE_LOST_CTS);
} else {
stop_cont_tone();
}
}

}

#endif // CONFIG_HAL_BOARD == HAL_BOARD_PX4
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