// update - updates led according to timed_updated. Should be called at 50Hz
void Buzzer::update()
{
// return immediately if disabled
if (!AP_Notify::flags.external_leds) {
return;
}
// reduce 50hz call down to 10hz
_counter++;
if (_counter < 5) {
return;
}
_counter = 0;
// complete currently played pattern
if (_pattern != NONE) {
_pattern_counter++;
switch (_pattern) {
case SINGLE_BUZZ:
// buzz for 10th of a second
if (_pattern_counter == 1) {
on(true);
}else{
on(false);
_pattern = NONE;
}
return;
case DOUBLE_BUZZ:
// buzz for 10th of a second
switch (_pattern_counter) {
case 1:
on(true);
break;
case 2:
on(false);
break;
case 3:
on(true);
break;
case 4:
default:
on(false);
_pattern = NONE;
break;
}
return;
case GPS_GLITCH:
// play bethoven's 5th type buzz (three fast, one long)
switch (_pattern_counter) {
case 1:
case 3:
case 5:
case 7:
on(true);
break;
case 2:
case 4:
case 6:
on(false);
break;
case 17:
on(false);
_pattern = NONE;
break;
default:
// do nothing
break;
}
return;
case ARMING_BUZZ:
// record start time
if (_pattern_counter == 1) {
_arming_buzz_start_ms = hal.scheduler->millis();
on(true);
} else {
// turn off buzzer after 3 seconds
if (hal.scheduler->millis() - _arming_buzz_start_ms >= BUZZER_ARMING_BUZZ_MS) {
_arming_buzz_start_ms = 0;
on(false);
_pattern = NONE;
}
}
return;
case BARO_GLITCH:
// four fast tones
switch (_pattern_counter) {
case 1:
case 3:
case 5:
case 7:
case 9:
on(true);
break;
case 2:
case 4:
case 6:
case 8:
on(false);
break;
case 10:
on(false);
_pattern = NONE;
break;
default:
// do nothing
break;
}
return;
case EKF_BAD:
// four tones getting shorter)
switch (_pattern_counter) {
case 1:
case 5:
case 8:
case 10:
on(true);
break;
case 4:
case 7:
case 9:
on(false);
break;
case 11:
on(false);
_pattern = NONE;
break;
default:
// do nothing
break;
}
return;
default:
// do nothing
break;
}
}
// check if armed status has changed
if (_flags.armed != AP_Notify::flags.armed) {
_flags.armed = AP_Notify::flags.armed;
if (_flags.armed) {
// double buzz when armed
play_pattern(ARMING_BUZZ);
}else{
// single buzz when disarmed
play_pattern(SINGLE_BUZZ);
}
return;
}
// check arming failed
if (_flags.arming_failed != AP_Notify::flags.arming_failed) {
_flags.arming_failed = AP_Notify::flags.arming_failed;
if (_flags.arming_failed) {
// arming failed buzz
play_pattern(SINGLE_BUZZ);
}
return;
}
// check gps glitch
if (_flags.gps_glitching != AP_Notify::flags.gps_glitching) {
_flags.gps_glitching = AP_Notify::flags.gps_glitching;
if (_flags.gps_glitching) {
// gps glitch warning buzz
play_pattern(GPS_GLITCH);
}
return;
}
// check gps failsafe
if (_flags.failsafe_gps != AP_Notify::flags.failsafe_gps) {
_flags.failsafe_gps = AP_Notify::flags.failsafe_gps;
if (_flags.failsafe_gps) {
// gps glitch warning buzz
play_pattern(GPS_GLITCH);
}
return;
}
// check ekf bad
if (_flags.ekf_bad != AP_Notify::flags.ekf_bad) {
_flags.ekf_bad = AP_Notify::flags.ekf_bad;
if (_flags.ekf_bad) {
// ekf bad warning buzz
play_pattern(EKF_BAD);
}
return;
}
// check baro glitch
if (_flags.baro_glitching != AP_Notify::flags.baro_glitching) {
_flags.baro_glitching = AP_Notify::flags.baro_glitching;
if (_flags.baro_glitching) {
// baro glitch warning buzz
play_pattern(BARO_GLITCH);
}
return;
}
// if battery failsafe constantly single buzz
if (AP_Notify::flags.failsafe_battery) {
play_pattern(SINGLE_BUZZ);
}
}
/**
* @brief Gets a line of raw cells from the user
* @param void
* @return bool - true if io_line is ready for further processing, false
* otherwise
*/
bool get_line(void) {
if (io_line_ready == false) {
io_line_reset();
}
if (io_user_abort) {
return false;
}
char last_cell = get_cell();
char pattern = GET_CELL_PATTERN(last_cell);
char control = GET_CELL_CONTROL(last_cell);
// If last cell was empty, there's nothing to do so return false and wait
if (last_cell == NO_DOTS) {
return false;
}
// Otherwise, if cell was recorded, save it to io_line
if (pattern) {
io_line[io_line_cell_index] = pattern;
}
switch (control) {
// ENTER - Advance cell, add EOT and return true
case WITH_ENTER:
io_line_next_cell();
io_line[io_line_cell_index] = END_OF_TEXT;
io_line_ready = false;
return true;
break;
/* RIGHT is used to switch to previous cell because Braille is entered
this way */
// RIGHT - Select prev cell
case WITH_RIGHT:
play_mp3(lang_fileset, MP3_PREV_CELL);
io_line_prev_cell();
if (!pattern) {
play_pattern(io_line[io_line_cell_index]);
}
return false;
break;
/* LEFT is used to switch to next cell because Braille is entered
this way */
// LEFT - Select next cell
case WITH_LEFT:
play_mp3(lang_fileset, MP3_NEXT_CELL);
io_line_next_cell();
if (!pattern) {
play_pattern(io_line[io_line_cell_index]);
}
return false;
break;
// CANCEL - Clear current cell
case WITH_CANCEL:
io_line_clear_cell();
return false;
break;
// Should not execute this code
default:
log_msg("[IO] Invalid control: %x\n\r", control);
quit_mode();
return false;
break;
}
}
// update - updates led according to timed_updated. Should be called at 50Hz
void Buzzer::update()
{
// check for arming failed event
if (AP_Notify::events.arming_failed) {
// arming failed buzz
play_pattern(SINGLE_BUZZ);
}
// reduce 50hz call down to 10hz
_counter++;
if (_counter < 5) {
return;
}
_counter = 0;
// complete currently played pattern
if (_pattern != NONE) {
_pattern_counter++;
switch (_pattern) {
case SINGLE_BUZZ:
// buzz for 10th of a second
if (_pattern_counter == 1) {
on(true);
}else{
on(false);
_pattern = NONE;
}
return;
case DOUBLE_BUZZ:
// buzz for 10th of a second
switch (_pattern_counter) {
case 1:
on(true);
break;
case 2:
on(false);
break;
case 3:
on(true);
break;
case 4:
default:
on(false);
_pattern = NONE;
break;
}
return;
case ARMING_BUZZ:
// record start time
if (_pattern_counter == 1) {
_arming_buzz_start_ms = AP_HAL::millis();
on(true);
} else {
// turn off buzzer after 3 seconds
if (AP_HAL::millis() - _arming_buzz_start_ms >= BUZZER_ARMING_BUZZ_MS) {
_arming_buzz_start_ms = 0;
on(false);
_pattern = NONE;
}
}
return;
case BARO_GLITCH:
// four fast tones
switch (_pattern_counter) {
case 1:
case 3:
case 5:
case 7:
case 9:
on(true);
break;
case 2:
case 4:
case 6:
case 8:
on(false);
break;
case 10:
on(false);
_pattern = NONE;
break;
default:
// do nothing
break;
}
return;
case EKF_BAD:
// four tones getting shorter)
switch (_pattern_counter) {
case 1:
case 5:
case 8:
case 10:
on(true);
break;
case 4:
case 7:
case 9:
on(false);
break;
case 11:
on(false);
_pattern = NONE;
break;
default:
// do nothing
break;
}
return;
default:
// do nothing
break;
}
}
// check if armed status has changed
if (_flags.armed != AP_Notify::flags.armed) {
_flags.armed = AP_Notify::flags.armed;
if (_flags.armed) {
// double buzz when armed
play_pattern(ARMING_BUZZ);
}else{
// single buzz when disarmed
play_pattern(SINGLE_BUZZ);
}
return;
}
// check ekf bad
if (_flags.ekf_bad != AP_Notify::flags.ekf_bad) {
_flags.ekf_bad = AP_Notify::flags.ekf_bad;
if (_flags.ekf_bad) {
// ekf bad warning buzz
play_pattern(EKF_BAD);
}
return;
}
// if vehicle lost was enabled, starting beep
if (AP_Notify::flags.vehicle_lost) {
play_pattern(DOUBLE_BUZZ);
}
// if battery failsafe constantly single buzz
if (AP_Notify::flags.failsafe_battery) {
play_pattern(SINGLE_BUZZ);
}
}
/**
* @brief Step through the main stages in the code.
* @return Void
*/
void md14_main() {
switch(md14_next_state) {
case MD14_STATE_INTRO:
lang_fileset = LANG_FILESET;
mode_fileset = MODE_FILESET;
play_mp3(MODE_FILESET, "WELC");
md14_next_state = MD14_STATE_LVLSEL;
srand(timer_rand());
break;
case MD14_STATE_LVLSEL:
md14_last_dot = create_dialog("LVL3", (DOT_1 | DOT_2 | DOT_3));
if (md14_last_dot == NO_DOTS)
break;
switch (md14_last_dot) {
case '1':
play_mp3(LANGUAGE, "EASY");
strings_to_wordlist(easy, ARRAYLEN(easy), &md14_dict);
break;
case '2':
play_mp3(LANGUAGE, "MED");
strings_to_wordlist(medium, ARRAYLEN(medium), &md14_dict);
break;
case '3':
play_mp3(LANGUAGE, "HARD");
strings_to_wordlist(hard, ARRAYLEN(hard), &md14_dict);
break;
}
print_words_in_list(&md14_dict);
play_mp3(MODE_FILESET, "INST");
md14_next_state = MD14_STATE_GENQUES;
break;
case MD14_STATE_GENQUES:
md14_reset();
get_next_word_in_wordlist(&md14_dict, &md14_chosen_word);
log_msg("[MD14] Next word: %s\n\r", md14_chosen_word->name);
md14_next_state = MD14_STATE_PROMPT;
break;
case MD14_STATE_PROMPT:
play_mp3(LANGUAGE, "SPEL");
speak_word(md14_chosen_word);
md14_next_state = MD14_STATE_INPUT;
break;
case MD14_STATE_INPUT:
md14_cell = get_cell();
if (md14_cell == NO_DOTS) {
break;
}
md14_cell_pattern = GET_CELL_PATTERN(md14_cell);
md14_cell_control = GET_CELL_CONTROL(md14_cell);
switch (md14_cell_control) {
case WITH_ENTER:
md14_user_cell.pattern = md14_cell_pattern;
md14_next_state = MD14_STATE_CHECK;
log_msg("[MD14] Checking answer\n\r");
break;
case WITH_LEFT:
md14_next_state = MD14_STATE_REPROMPT;
break;
case WITH_RIGHT:
md14_next_state = MD14_STATE_GENQUES;
break;
case WITH_CANCEL:
break;
}
break;
case MD14_STATE_CHECK:
md14_speak_inputted_cell();
get_next_cell_in_word(md14_chosen_word, &md14_curr_cell);
log_msg("Target cell: %x, inputted cell: %x.\n\r", md14_curr_cell.pattern, md14_user_cell.pattern);
if (cell_equals(&md14_curr_cell, &md14_user_cell)) {
if (md14_chosen_word->curr_letter == md14_chosen_word->num_letters - 1) { // done
md14_correct_answer();
md14_next_state = MD14_STATE_GENQUES;
}
else {// correct but not done
play_mp3(LANGUAGE, "GOOD");
play_mp3(LANGUAGE, "NLET");
md14_curr_mistakes = 0;
md14_next_state = MD14_STATE_INPUT;
}
}
else {
md14_incorrect_answer();
md14_next_state = MD14_STATE_REPROMPT;
}
break;
case MD14_STATE_REPROMPT:
if (md14_curr_mistakes >= MAX_INCORRECT_GUESS) {
play_mp3(LANGUAGE, "PRSS");
char* letter_name = get_eng_letter_name_by_cell(&md14_curr_cell);
play_mp3(LANGUAGE, letter_name);
if (md14_curr_mistakes >= MAX_INCORRECT_GUESS + 1)
play_pattern(md14_curr_cell.pattern);
}
else {
play_mp3(LANGUAGE, "SPEL");
speak_word(md14_chosen_word);
if (md14_chosen_word->curr_glyph > -1) {// not at beginning of word
play_mp3(MODE_FILESET, "SPLS");
speak_letters_so_far(md14_chosen_word);
play_mp3(LANGUAGE, "NLET");
}
}
md14_next_state = MD14_STATE_INPUT;
break;
default:
break;
}
}
/**
* @brief Step through the main stages in the code.
* @return Void
*/
void md14_main() {
switch(md14_next_state)
{
case MD14_STATE_INTRO:
PRINTF("In intro state\n\r");
play_mp3(MODE_FILESET, "WELC");
lang_fileset = "ENG_";
mode_fileset = "MD14";
md14_next_state = MD14_STATE_LVLSEL;
srand(timer_rand());
break;
case MD14_STATE_LVLSEL:
md14_last_dot = create_dialog("LVLS", (DOT_1 | DOT_2));
switch (md14_last_dot) {
case NO_DOTS:
break;
case '1':
play_mp3(LANGUAGE, "EASY");
strings_to_wordlist(easy, ARRAYLEN(easy), &md14_dict);
print_words_in_list(&md14_dict);
play_mp3(MODE_FILESET, "INST");
md14_next_state = MD14_STATE_GENQUES;
break;
case '2':
play_mp3(LANGUAGE, "HARD");
strings_to_wordlist(medium, ARRAYLEN(medium), &md14_dict);
print_words_in_list(&md14_dict);
play_mp3(MODE_FILESET, "INST");
md14_next_state = MD14_STATE_GENQUES;
break;
// todo: add case 3; figure out too-long words
default:
play_mp3(LANGUAGE, "INVP");
PRINTF("Invalid entry.");
break;
}
break;
case MD14_STATE_GENQUES:
PRINTF("In genques state\n\r");
md14_curr_mistakes = 0;
get_next_word_in_wordlist(&md14_dict, &md14_chosen_word);
sprintf(dbgstr, "[MD14] Next word: %s\n\r", md14_chosen_word->name);
PRINTF(dbgstr);
md14_next_state = MD14_STATE_PROMPT;
break;
case MD14_STATE_PROMPT:
PRINTF("In prompt state\n\r");
play_mp3(LANGUAGE, "SPEL");
speak_word(md14_chosen_word);
md14_next_state = MD14_STATE_INPUT;
break;
case MD14_STATE_INPUT:
md14_cell = get_cell();
if (md14_cell == NO_DOTS) {
break;
}
md14_cell_pattern = GET_CELL_PATTERN(md14_cell);
md14_cell_control = GET_CELL_CONTROL(md14_cell);
switch (md14_cell_control) {
case WITH_ENTER:
md14_user_cell.pattern = md14_cell_pattern;
md14_next_state = MD14_STATE_CHECK;
PRINTF("[MD14] Checking answer\n\r");
break;
case WITH_LEFT:
md14_next_state = MD14_STATE_REPROMPT;
break;
case WITH_RIGHT:
stats();
md14_next_state = MD14_STATE_GENQUES;
break;
case WITH_CANCEL:
break;
}
break;
case MD14_STATE_CHECK:
get_next_cell_in_word(md14_chosen_word, &md14_curr_cell);
sprintf(dbgstr, "In check state. Current cell: %x, user cell: %x.\n\r", md14_curr_cell.pattern, md14_user_cell.pattern);
PRINTF(dbgstr);
if (cell_equals(&md14_curr_cell, &md14_user_cell)) {
md14_curr_mistakes = 0;
if (md14_chosen_word->curr_letter == md14_chosen_word->num_letters - 1) { // done
correct_answer();
md14_next_state = MD14_STATE_GENQUES;
}
else {// correct but not done
play_mp3(LANGUAGE, "GOOD");
play_mp3(LANGUAGE, "NLET");
md14_next_state = MD14_STATE_INPUT;
}
}
else {// incorrect letter
incorrect_answer(); // @todo mark invalid letters invalid
md14_next_state = MD14_STATE_REPROMPT;
}
break;
case MD14_STATE_REPROMPT:
PRINTF("In reprompt state\n\r");
if (md14_curr_mistakes >= MAX_INCORRECT_GUESS) {
play_mp3(LANGUAGE, "PRSS");
play_pattern(md14_curr_cell.pattern);
}
else {
play_mp3(LANGUAGE, "SPEL");
speak_word(md14_chosen_word);
if (md14_chosen_word->curr_glyph > -1) {// not at beginning of word
play_mp3(MODE_FILESET, "SPLS");
speak_letters_so_far(md14_chosen_word);
}
}
md14_next_state = MD14_STATE_INPUT;
break;
default:
break;
}
}
