From f7aad844a3d52d57b025e8e3dc17e3251486fa25 Mon Sep 17 00:00:00 2001
From: Simone Guscetti <simone@px4.io>
Date: Fri, 17 Feb 2017 11:10:23 +0100
Subject: [PATCH] tune control: added the possibility to set tunes with a
string minor changes
---
src/systemcmds/tune_control/CMakeLists.txt | 2 +-
src/systemcmds/tune_control/tune_control.cpp | 78 ++++++++++++--------
2 files changed, 48 insertions(+), 32 deletions(-)
diff --git a/src/systemcmds/tune_control/CMakeLists.txt b/src/systemcmds/tune_control/CMakeLists.txt
index ffb3f0ec82..8ef9b5055a 100644
--- a/src/systemcmds/tune_control/CMakeLists.txt
+++ b/src/systemcmds/tune_control/CMakeLists.txt
@@ -33,7 +33,7 @@
px4_add_module(
MODULE systemcmds__tune_control
MAIN tune_control
- STACK_MAIN 2500
+ STACK_MAIN 2500 # TODO: choose an appropriate stack size
COMPILE_FLAGS
SRCS
tune_control.cpp
diff --git a/src/systemcmds/tune_control/tune_control.cpp b/src/systemcmds/tune_control/tune_control.cpp
index 86b7ff6b32..aa00da467a 100644
--- a/src/systemcmds/tune_control/tune_control.cpp
+++ b/src/systemcmds/tune_control/tune_control.cpp
@@ -127,16 +127,33 @@ int
tune_control_main(int argc, char *argv[])
{
output::Tunes tunes;
+ bool string_input = false;
+ const char *tune_string = NULL;
int myoptind = 1;
int ch;
const char *myoptarg = NULL;
uint8_t value;
tune_control_s tune_control = {};
- tune_control.tune_id = tune_control_s::STARTUP;
+ tune_control.tune_id = 0;
tune_control.strength = 40;
- while ((ch = px4_getopt(argc, argv, "t:", &myoptind, &myoptarg)) != EOF) {
+ while ((ch = px4_getopt(argc, argv, "f:d:t:s:", &myoptind, &myoptarg)) != EOF) {
switch (ch) {
+ case 'f':
+ if ((uint16_t)(strtol(myoptarg, NULL, 0)) > 0 && (uint16_t)(strtol(myoptarg, NULL, 0)) < 22000) {
+ tune_control.frequency = (uint16_t)(strtol(myoptarg, NULL, 0));
+
+ } else {
+ usage();
+ return 1;
+ }
+
+ break;
+
+ case 'd':
+ tune_control.duration = (uint16_t)(strtol(myoptarg, NULL, 0));
+ break;
+
case 't':
value = (uint8_t)(strtol(myoptarg, NULL, 0));
@@ -150,23 +167,12 @@ tune_control_main(int argc, char *argv[])
break;
- case 'l':
- // led_control.led_mask = 1 << strtol(myoptarg, NULL, 0);
- break;
-
- case 'n':
- // led_control.num_blinks = strtol(myoptarg, NULL, 0);
- break;
-
case 's':
- if (!strcmp(myoptarg, "fast")) {
- // blink_speed = led_control_s::MODE_BLINK_FAST;
+ string_input = true;
- } else if (!strcmp(myoptarg, "normal")) {
- // blink_speed = led_control_s::MODE_BLINK_NORMAL;
-
- } else if (!strcmp(myoptarg, "slow")) {
- // blink_speed = led_control_s::MODE_BLINK_SLOW;
+ // TODO: check if the string is a valid tune sequence
+ if (1) {
+ tune_string = myoptarg;
} else {
usage();
@@ -195,27 +201,37 @@ tune_control_main(int argc, char *argv[])
return 1;
}
- if (!strcmp(argv[myoptind], "test")) {
- PX4_INFO("Publishing standard tune %d", tune_control.tune_id);
- publish_tune_control(tune_control);
+ unsigned frequency, duration, silence;
- } else if (!strcmp(argv[myoptind], "libtest")) {
- unsigned frequency, duration, silence;
+ if (!strcmp(argv[myoptind], "play")) {
+ if (string_input) {
+ PX4_INFO("Start playback...");
+
+ while (tunes.parse_string(tune_string, frequency, duration, silence) > 0) {
+ tune_control.tune_id = 0;
+ tune_control.frequency = (uint16_t)frequency;
+ tune_control.duration = (uint32_t)duration;
+ publish_tune_control(tune_control);
+ usleep(duration + silence);
+ }
+
+ PX4_INFO("Playback finished.")
+
+ } else {
+ if (tune_control.tune_id == 0) {
+ tune_control.tune_id = 1;
+ }
+ PX4_INFO("Publishing standard tune %d", tune_control.tune_id);
+ publish_tune_control(tune_control);
+ }
+
+ } else if (!strcmp(argv[myoptind], "libtest")) {
while (tunes.parse_cmd(tune_control, frequency, duration, silence) > 0) {
PX4_INFO("frequency: %d, duration %d, silence %d", frequency, duration, silence);
usleep(500000);
}
- /*} else if (!strcmp(argv[myoptind], "off")) {
- led_control.mode = led_control_s::MODE_OFF;
-
- } else if (!strcmp(argv[myoptind], "reset")) {
- led_control.mode = led_control_s::MODE_DISABLED;
-
- } else if (!strcmp(argv[myoptind], "blink")) {
- led_control.mode = blink_speed;*/
-
} else {
usage();
return 1;
--
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