rc_loss_alarm.cpp

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/**
 * @file rc_loss_alarm.cpp
 *
 */

#include "rc_loss_alarm.h"

#include <px4_defines.h>

#include <drivers/drv_hrt.h>
#include <stdint.h>

#include <tunes/tune_definition.h>

#include <uORB/topics/tune_control.h>

namespace events
{
namespace rc_loss
{

RC_Loss_Alarm::RC_Loss_Alarm(const events::SubscriberHandler &subscriber_handler)
	: _subscriber_handler(subscriber_handler)
{
}

bool RC_Loss_Alarm::check_for_updates()
{
	if (_subscriber_handler.vehicle_status_updated()) {
		orb_copy(ORB_ID(vehicle_status), _subscriber_handler.get_vehicle_status_sub(), &_vehicle_status);
		return true;
	}

	return false;
}

void RC_Loss_Alarm::process()
{
	if (!check_for_updates()) {
		return;
	}

	if (!_was_armed &&
	    _vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED) {

		_was_armed = true;	// Once true, impossible to go back to false
	}

	if (!_had_rc && !_vehicle_status.rc_signal_lost) {

		_had_rc = true;
	}

	if (_was_armed && _had_rc && _vehicle_status.rc_signal_lost &&
	    _vehicle_status.arming_state != vehicle_status_s::ARMING_STATE_ARMED) {
		play_tune();
		_alarm_playing = true;

	} else if (_alarm_playing) {
		stop_tune();
		_alarm_playing = false;
	}
}

void RC_Loss_Alarm::play_tune()
{
	struct tune_control_s tune_control = {};
	tune_control.timestamp     = hrt_absolute_time();
	tune_control.tune_id       = static_cast<int>(TuneID::ERROR_TUNE);
	tune_control.tune_override = 1;
	tune_control.volume        = tune_control_s::VOLUME_LEVEL_MAX;

	if (_tune_control_pub == nullptr) {
		_tune_control_pub = orb_advertise_queue(ORB_ID(tune_control), &tune_control, tune_control_s::ORB_QUEUE_LENGTH);

	} else	{
		orb_publish(ORB_ID(tune_control), _tune_control_pub, &tune_control);
	}
}

void RC_Loss_Alarm::stop_tune()
{
	struct tune_control_s tune_control = {};
	tune_control.tune_override = true;
	tune_control.timestamp = hrt_absolute_time();

	if (_tune_control_pub == nullptr) {
		_tune_control_pub = orb_advertise_queue(ORB_ID(tune_control), &tune_control, tune_control_s::ORB_QUEUE_LENGTH);

	} else	{
		orb_publish(ORB_ID(tune_control), _tune_control_pub, &tune_control);
	}
}

} /* namespace rc_loss */
} /* namespace events */