add tune example

mavlink · Oct 19, 2019 · 7aa509a · 7aa509a
1 parent f7a528d
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diff --git a/example/tune/CMakeLists.txt b/example/tune/CMakeLists.txt
@@ -0,0 +1,20 @@
+cmake_minimum_required(VERSION 3.5.1)
+
+project(tune)
+
+if(NOT MSVC)
+    add_definitions("-std=c++11 -Wall -Wextra -Werror")
+else()
+    add_definitions("-std=c++11 -WX -W2")
+endif()
+
+find_package(MAVSDK REQUIRED)
+
+add_executable(tune
+    tune.cpp
+)
+
+target_link_libraries(tune
+    MAVSDK::mavsdk_tune
+    MAVSDK::mavsdk
+)
diff --git a/example/tune/tune.cpp b/example/tune/tune.cpp
@@ -0,0 +1,117 @@
+#include <cstdint>
+#include <mavsdk/mavsdk.h>
+#include <mavsdk/plugins/tune/tune.h>
+#include <iostream>
+#include <thread>
+
+using namespace mavsdk;
+using namespace std::this_thread;
+using namespace std::chrono;
+
+#define ERROR_CONSOLE_TEXT "\033[31m" // Turn text on console red
+#define TELEMETRY_CONSOLE_TEXT "\033[34m" // Turn text on console blue
+#define NORMAL_CONSOLE_TEXT "\033[0m" // Restore normal console colour
+
+void usage(std::string bin_name)
+{
+    std::cout << NORMAL_CONSOLE_TEXT << "Usage : " << bin_name << " <connection_url>" << std::endl
+              << "Connection URL format should be :" << std::endl
+              << " For TCP : tcp://[server_host][:server_port]" << std::endl
+              << " For UDP : udp://[bind_host][:bind_port]" << std::endl
+              << " For Serial : serial:///path/to/serial/dev[:baudrate]" << std::endl
+              << "For example, to connect to the simulator use URL: udp://:14540" << std::endl;
+}
+
+int main(int argc, char** argv)
+{
+    Mavsdk dc;
+    std::string connection_url;
+    ConnectionResult connection_result;
+
+    bool discovered_system = false;
+    if (argc == 2) {
+        connection_url = argv[1];
+        connection_result = dc.add_any_connection(connection_url);
+    } else {
+        usage(argv[0]);
+        return 1;
+    }
+
+    if (connection_result != ConnectionResult::SUCCESS) {
+        std::cout << ERROR_CONSOLE_TEXT
+                  << "Connection failed: " << connection_result_str(connection_result)
+                  << NORMAL_CONSOLE_TEXT << std::endl;
+        return 1;
+    }
+
+    // We don't need to specify the UUID if it's only one system anyway.
+    // If there were multiple, we could specify it with:
+    // dc.system(uint64_t uuid);
+    System& system = dc.system();
+
+    std::cout << "Waiting to discover system..." << std::endl;
+    dc.register_on_discover([&discovered_system](uint64_t uuid) {
+        std::cout << "Discovered system with UUID: " << uuid << std::endl;
+        discovered_system = true;
+    });
+
+    // We usually receive heartbeats at 1Hz, therefore we should find a system after around 2
+    // seconds.
+    sleep_for(seconds(2));
+
+    if (!discovered_system) {
+        std::cout << ERROR_CONSOLE_TEXT << "No system found, exiting." << NORMAL_CONSOLE_TEXT
+                  << std::endl;
+        return 1;
+    }
+
+    std::vector<Tune::SongElement> the_tune;
+    the_tune.push_back(Tune::SongElement::DURATION_4);
+    the_tune.push_back(Tune::SongElement::NOTE_G);
+    the_tune.push_back(Tune::SongElement::NOTE_A);
+    the_tune.push_back(Tune::SongElement::NOTE_B);
+    the_tune.push_back(Tune::SongElement::FLAT);
+    the_tune.push_back(Tune::SongElement::OCTAVE_UP);
+    the_tune.push_back(Tune::SongElement::DURATION_1);
+    the_tune.push_back(Tune::SongElement::NOTE_E);
+    the_tune.push_back(Tune::SongElement::FLAT);
+    the_tune.push_back(Tune::SongElement::OCTAVE_DOWN);
+    the_tune.push_back(Tune::SongElement::DURATION_4);
+    the_tune.push_back(Tune::SongElement::NOTE_PAUSE);
+    the_tune.push_back(Tune::SongElement::NOTE_F);
+    the_tune.push_back(Tune::SongElement::NOTE_G);
+    the_tune.push_back(Tune::SongElement::NOTE_A);
+    the_tune.push_back(Tune::SongElement::OCTAVE_UP);
+    the_tune.push_back(Tune::SongElement::DURATION_2);
+    the_tune.push_back(Tune::SongElement::NOTE_D);
+    the_tune.push_back(Tune::SongElement::NOTE_D);
+    the_tune.push_back(Tune::SongElement::OCTAVE_DOWN);
+    the_tune.push_back(Tune::SongElement::DURATION_4);
+    the_tune.push_back(Tune::SongElement::NOTE_PAUSE);
+    the_tune.push_back(Tune::SongElement::NOTE_E);
+    the_tune.push_back(Tune::SongElement::FLAT);
+    the_tune.push_back(Tune::SongElement::NOTE_F);
+    the_tune.push_back(Tune::SongElement::NOTE_G);
+    the_tune.push_back(Tune::SongElement::OCTAVE_UP);
+    the_tune.push_back(Tune::SongElement::DURATION_1);
+    the_tune.push_back(Tune::SongElement::NOTE_C);
+    the_tune.push_back(Tune::SongElement::OCTAVE_DOWN);
+    the_tune.push_back(Tune::SongElement::DURATION_4);
+    the_tune.push_back(Tune::SongElement::NOTE_PAUSE);
+    the_tune.push_back(Tune::SongElement::NOTE_A);
+    the_tune.push_back(Tune::SongElement::OCTAVE_UP);
+    the_tune.push_back(Tune::SongElement::NOTE_C);
+    the_tune.push_back(Tune::SongElement::OCTAVE_DOWN);
+    the_tune.push_back(Tune::SongElement::NOTE_B);
+    the_tune.push_back(Tune::SongElement::FLAT);
+    the_tune.push_back(Tune::SongElement::DURATION_2);
+    the_tune.push_back(Tune::SongElement::NOTE_G);
+
+    Tune tune(system);
+    tune.play_tune_async(the_tune, 200, [](const Tune::Result result) {
+        std::cout << NORMAL_CONSOLE_TEXT << "Tune sent with result: " << Tune::result_str(result)
+                  << std::endl;
+    });
+
+    return 0;
+}