How to call function beep() of NuttX in the C examples?

shelley · April 9, 2020, 10:05am

Hi all,
I want to call function beep() in the C examples but it report errors as follows.
How can I fix it?

Thanks & Best Regards!

/PX4_Firmware1.10.0-beta1/Firmware/build/px4_fmu-v3_default/external/Build/px4io_firmware/NuttX/apps/graphics/pdcurs34/pdcurses/pdc_beep.c
#include "curspriv.h"
int beep(void)

/PX4_Firmware1.10.0-beta1/Firmware/src/examples/px4_simple_app_agv/px4_simple_app_agv.c
#include "../../../platforms/nuttx/NuttX/apps/graphics/pdcurs34/include/curspriv.h"
int px4_simple_app_agv_thread_main(int argc, char *argv[])
{
     beep();
}


Scanning dependencies of target nuttx_binfmt_build
[ 98%] Generating nuttx/binfmt/libbinfmt.a
[ 98%] Built target nuttx_binfmt_build
Scanning dependencies of target nuttx_sched_build
[ 98%] Generating nuttx/sched/libsched.a
[100%] Built target nuttx_sched_build
Scanning dependencies of target px4
[100%] Building C object platforms/nuttx/CMakeFiles/px4.dir/__/common/empty.c.obj
[100%] Linking CXX executable ../../px4_fmu-v3_default.elf
../../src/examples/px4_simple_app_agv/libexamples__px4_simple_app_agv.a(px4_simple_app_agv.c.obj): In function `px4_simple_app_agv_thread_main':
/home/shelley/src/PX4_Firmware1.10.0-beta1/Firmware/src/examples/px4_simple_app_agv/px4_simple_app_agv.c:555: undefined reference to `beep'
/home/shelley/src/PX4_Firmware1.10.0-beta1/Firmware/src/examples/px4_simple_app_agv/px4_simple_app_agv.c:550: undefined reference to `beep'
/home/shelley/src/PX4_Firmware1.10.0-beta1/Firmware/src/examples/px4_simple_app_agv/px4_simple_app_agv.c:554: undefined reference to `beep'
platforms/nuttx/CMakeFiles/px4.dir/build.make:344: recipe for target 'px4_fmu-v3_default.elf' failed
CMakeFiles/Makefile2:14182: recipe for target 'platforms/nuttx/CMakeFiles/px4.dir/all' failed
Makefile:151: recipe for target 'all' failed
collect2: error: ld returned 1 exit status
make[2]: *** [px4_fmu-v3_default.elf] Error 1
make[1]: *** [platforms/nuttx/CMakeFiles/px4.dir/all] Error 2
make: *** [all] Error 2
16:44:24: The process "/usr/bin/cmake" exited with code 2.
Error while building/deploying project px4 (kit: Imported Kit)
When executing step "CMake Build"
16:44:24: Elapsed time: 01:07.

JulianOes · April 9, 2020, 11:39am

I’m not sure where beep() comes from but here is an example how the buzzer/tunes are used in commander:

github.com

PX4/Firmware/blob/db36edffe825d4973504397450936c23502c3fcc/src/modules/commander/commander_helper.cpp#L166-L200


void set_tune(int tune)
{
	unsigned int new_tune_duration = tune_durations[tune];


	/* don't interrupt currently playing non-repeating tune by repeating */
	if (tune_end == 0 || new_tune_duration != 0 || hrt_absolute_time() > tune_end) {
		/* allow interrupting current non-repeating tune by the same tune */
		if (tune != tune_current || new_tune_duration != 0) {
			tune_control.tune_id = tune;
			tune_control.volume = tune_control_s::VOLUME_LEVEL_DEFAULT;
			tune_control.tune_override = 0;
			tune_control.timestamp = hrt_absolute_time();
			orb_publish(ORB_ID(tune_control), tune_control_pub, &tune_control);
		}


		tune_current = tune;


		if (new_tune_duration != 0) {
			tune_end = hrt_absolute_time() + new_tune_duration;

This file has been truncated. show original

shelley · April 9, 2020, 12:01pm

Hi JulianOes，
I’ll try it.

Thank you very much!