rc_loss_alarm.cpp

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

#include "rc_loss_alarm.h"

#include <px4_platform_common/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 */