将警报声添加到DaemonTask

modules/daemon/daemon.c

@@ -2,6 +2,7 @@
 #include "bsp_dwt.h" // 后续通过定时器来计时?
 #include "stdlib.h"
 #include "memory.h"
+#include "buzzer.h"
 
 // 用于保存所有的daemon instance
 static DaemonInstance *daemon_instances[DAEMON_MX_CNT] = {NULL};
@@ -15,7 +16,9 @@ DaemonInstance *DaemonRegister(Daemon_Init_Config_s *config)
     instance->owner_id = config->owner_id;
     instance->reload_count = config->reload_count == 0 ? 100 : config->reload_count;
     instance->callback = config->callback;
-
+    instance->alarm_state = config->alarm_state;
+    instance->alarm_level = config->alarm_level;
+    instance->temp_count = config->reload_count;
     daemon_instances[idx++] = instance;
     return instance;
 }
@@ -36,6 +39,7 @@ void DaemonTask()
     DaemonInstance *dins; // 提高可读性同时降低访存开销
     for (size_t i = 0; i < idx; ++i)
     {
+
         dins = daemon_instances[i];
         if (dins->temp_count > 0) // 如果计数器还有值,说明上一次喂狗后还没有超时,则计数器减一
             dins->temp_count--;
@@ -43,6 +47,11 @@ void DaemonTask()
         {
             dins->callback(dins->owner_id); // module内可以将owner_id强制类型转换成自身类型从而调用特定module的offline callback
             // @todo 为蜂鸣器/led等增加离线报警的功能,非常关键!
+            if(dins->alarm_state == ALARM_ON)
+            {
+                BuzzerPlay(dins->alarm_level);
+            }
+            
         }
     }
 }

modules/daemon/daemon.h

@@ -2,18 +2,34 @@
 #define MONITOR_H
 
 #include "stdint.h"
+#include "string.h"
 
 #define DAEMON_MX_CNT 64
 
 /* 模块离线处理函数指针 */
 typedef void (*offline_callback)(void *);
-
+typedef enum
+{
+    ALARM_OFF = 0,
+    ALARM_ON = 1,
+}alarm_state_e;
+typedef enum
+{
+    ALARM_LEVEL_LOW = 0,
+    ALARM_LEVEL_BELOW_MEDIUM = 1,
+    ALARM_LEVEL_MEDIUM = 2,
+    ALARM_LEVEL_ABOVE_MEDIUM = 3,
+    ALARM_LEVEL_HIGH = 4,
+    ALARM_OFFLINE = 5,
+}alarm_level_e;
 /* daemon结构体定义 */
 typedef struct daemon_ins
 {
     uint16_t reload_count;     // 重载值
     offline_callback callback; // 异常处理函数,当模块发生异常时会被调用
-
+    alarm_state_e alarm_state; // 蜂鸣器状态
+    alarm_level_e alarm_level;      //警报级别
+    
     uint16_t temp_count; // 当前值,减为零说明模块离线或异常
     void *owner_id;      // daemon实例的地址,初始化的时候填入
 } DaemonInstance;
@@ -23,6 +39,9 @@ typedef struct
 {
     uint16_t reload_count;     // 实际上这是app唯一需要设置的值?
     offline_callback callback; // 异常处理函数,当模块发生异常时会被调用
+    alarm_state_e alarm_state; // 蜂鸣器状态
+    alarm_level_e alarm_level;      //警报级别
+    
     void *owner_id;            // id取拥有daemon的实例的地址,如DJIMotorInstance*,cast成void*类型
 } Daemon_Init_Config_s;