text: /****************************************************************************
   *
   *   Copyright (c) 2017 PX4 Development Team. All rights reserved.
   *
   * Redistribution and use in source and binary forms, with or without
   * modification, are permitted provided that the following conditions
   * are met:
   *
   * 1. Redistributions of source code must retain the above copyright
   *    notice, this list of conditions and the following disclaimer.
   * 2. Redistributions in binary form must reproduce the above copyright
   *    notice, this list of conditions and the following disclaimer in
   *    the documentation and/or other materials provided with the
   *    distribution.
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   *    used to endorse or promote products derived from this software
   *    without specific prior written permission.
   *
   * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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   ****************************************************************************/
  
  /**
   * @file tune_control.cpp
   *
   * Command-line tool to control & test the (external) tunes.
   * To use it make sure there's a driver running, which handles the tune_control uorb topic.
   */
  
  #include <px4_getopt.h>
  #include <px4_log.h>
  
  #include <stdlib.h>
  #include <string.h>
  #include <unistd.h>
  #include <errno.h>
  
  #include <px4_module.h>
  
  #include <lib/tunes/tunes.h>
  #include <uORB/topics/tune_control.h>
  
  #include <drivers/drv_hrt.h>
  
  #define MAX_NOTE_ITERATION 50
  
  static void	usage();
  
  static orb_advert_t tune_control_pub = nullptr;
  
  extern "C" {
  	__EXPORT int tune_control_main(int argc, char *argv[]);
  }
  
  static void
  usage()
  {
  
  	PRINT_MODULE_DESCRIPTION(
  		R"DESCR_STR(
  ### Description
  
  Command-line tool to control & test the (external) tunes.
  
  Tunes are used to provide audible notification and warnings (e.g. when the system arms, gets position lock, etc.).
  The tool requires that a driver is running that can handle the tune_control uorb topic.
  
  Information about the tune format and predefined system tunes can be found here:
  https://github.com/PX4/Firmware/blob/master/src/lib/tunes/tune_definition.desc
  
  ### Examples
  
  Play system tune #2:
  $ tune_control play -t 2
  )DESCR_STR");
  
  	PRINT_MODULE_USAGE_NAME("tune_control", "system");
  	PRINT_MODULE_USAGE_COMMAND_DESCR("play","Play system tune, tone, or melody");
  	PRINT_MODULE_USAGE_PARAM_INT('t', 1, 1, 21, "Play predefined system tune", true);
  	PRINT_MODULE_USAGE_PARAM_INT('f', -1, 0, 22, "Frequency of tone in Hz (0-22kHz)", true);
  	PRINT_MODULE_USAGE_PARAM_INT('d', -1, 1, 21, "Duration of tone in us", true);
  	PRINT_MODULE_USAGE_PARAM_INT('s', 40, 0, 100, "Strength of tone (0-100)", true);
  	PRINT_MODULE_USAGE_PARAM_STRING('m', nullptr,  R"(<string> - e.g. "MFT200e8a8a")",
  					 "Melody in string form", true);
  	PRINT_MODULE_USAGE_COMMAND_DESCR("libtest","Test library");
  	PRINT_MODULE_USAGE_COMMAND_DESCR("stop","Stop playback (use for repeated tunes)");
  
  }
  
  static void publish_tune_control(tune_control_s &tune_control)
  {
  	tune_control.timestamp = hrt_absolute_time();
  
  	if (tune_control_pub == nullptr) {
  		// We have a minimum of 3 so that tune, stop, tune will fit
  		tune_control_pub = orb_advertise_queue(ORB_ID(tune_control), &tune_control, 3);
  
  	} else {
  		orb_publish(ORB_ID(tune_control), tune_control_pub, &tune_control);
  	}
  }
  
  int
  tune_control_main(int argc, char *argv[])
  {
  	Tunes tunes;
  	bool string_input = false;
  	const char *tune_string  = nullptr;
  	int myoptind = 1;
  	int ch;
  	const char *myoptarg = nullptr;
  	unsigned int value;
  	tune_control_s tune_control = {};
  	tune_control.tune_id = 0;
  	tune_control.strength = tune_control_s::STRENGTH_NORMAL;
  
  	while ((ch = px4_getopt(argc, argv, "f:d:t:m:s:", &myoptind, &myoptarg)) != EOF) {
  		switch (ch) {
  		case 'f':
  			value = (uint16_t)(strtol(myoptarg, nullptr, 0));
  
  			if (value > 0 && value < 22000) {
  				tune_control.frequency = value;
  
  			} else {
  				usage();
  				return 1;
  			}
  
  			break;
  
  		case 'd':
  			tune_control.duration = (uint32_t)(strtol(myoptarg, nullptr, 0));
  			break;
  
  		case 't':
  			value = (uint8_t)(strtol(myoptarg, nullptr, 0));
  
  			if (value > 0 && value < tunes.get_default_tunes_size()) {
  				tune_control.tune_id = value;
  
  			} else {
  				usage();
  				return 1;
  			}
  
  			break;
  
  		case 'm':
  			string_input = true;
  			tune_string  = myoptarg;
  
  			// check if string is a valid melody string
  			if (tune_string[0] != 'M') {
  				usage();
  				return 1;
  			}
  
  			break;
  
  		case 's':
  			value = (uint8_t)(strtol(myoptarg, nullptr, 0));
  
  			if (value > 0 && value < 100) {
  				tune_control.strength = value;
  
  			} else {
  				tune_control.strength = tune_control_s::STRENGTH_NORMAL;
  			}
  
  			break;
  
  		default:
  			usage();
  			return -1;
  			break;
  		}
  	}
  
  	if (myoptind >= argc) {
  		usage();
  		return 1;
  	}
  
  	unsigned frequency, duration, silence;
  	uint8_t strength;
  	int exit_counter = 0;
  
  	if (!strcmp(argv[myoptind], "play")) {
  		if (string_input) {
  			PX4_INFO("Start playback...");
  			tunes.set_string(tune_string, tune_control.strength);
  
  			while (tunes.get_next_tune(frequency, duration, silence, strength) > 0) {
  				tune_control.tune_id = 0;
  				tune_control.frequency = (uint16_t)frequency;
  				tune_control.duration = (uint32_t)duration;
  				tune_control.silence = (uint32_t)silence;
  				tune_control.strength = (uint8_t)strength;
  				publish_tune_control(tune_control);
  				px4_usleep(duration + silence);
  				exit_counter++;
  
  				// exit if the loop is doing too many iterations
  				if (exit_counter > MAX_NOTE_ITERATION) {
  					break;
  				}
  			}
  
  			PX4_INFO("Playback finished.");
  
  		} else {  // tune id instead of string has been provided
  			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")) {
  		int ret = tunes.set_control(tune_control);
  
  		if (ret == -EINVAL) {
  			PX4_WARN("Tune ID not recognized.");
  		}
  
  		while (tunes.get_next_tune(frequency, duration, silence, strength) > 0) {
  			PX4_INFO("frequency: %d, duration %d, silence %d, strength%d",
  				 frequency, duration, silence, strength);
  			px4_usleep(500000);
  			exit_counter++;
  
  			// exit if the loop is doing too many iterations
  			if (exit_counter > MAX_NOTE_ITERATION) {
  				break;
  			}
  		}
  
  	} else if (!strcmp(argv[myoptind], "stop")) {
  		PX4_INFO("Stopping playback...");
  		tune_control.tune_id = 0;
  		tune_control.frequency = 0;
  		tune_control.duration = 0;
  		tune_control.silence = 0;
  		tune_control.tune_override = true;
  		publish_tune_control(tune_control);
  		// We wait the maximum update interval to ensure
  		// The stop will not be overwritten
  		px4_usleep(tunes.get_maximum_update_interval());
  
  	}	else {
  		usage();
  		return 1;
  	}
  
  	return 0;
  }
  