Add looping

ut-ras · Mar 20, 2024 · d2a70d7 · d2a70d7
1 parent 000ab3d
commit d2a70d7
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Showing 2 changed files with 12 additions and 2 deletions.
diff --git a/ut-robomaster/src/subsystems/sound/command_play_sound.cpp b/ut-robomaster/src/subsystems/sound/command_play_sound.cpp
@@ -11,7 +11,11 @@ void CommandPlaySound::initialize()
 
 void CommandPlaySound::execute()
 {
-    if (read_index >= sound.data_length) return;
+    if (read_index >= sound.data_length)
+    {
+        if (!loop) return;
+        read_index -= sound.data_length;
+    }
 
     if (timer.execute())
     {

diff --git a/ut-robomaster/src/subsystems/sound/command_play_sound.hpp b/ut-robomaster/src/subsystems/sound/command_play_sound.hpp
@@ -17,10 +17,15 @@ using tap::arch::MilliTimeout;
 class CommandPlaySound : public tap::control::Command
 {
 public:
-    CommandPlaySound(src::Drivers *drivers, SoundSubsystem *subsystem, Sound sound)
+    CommandPlaySound(
+        src::Drivers *drivers,
+        SoundSubsystem *subsystem,
+        Sound sound,
+        bool loop = false)
         : drivers(drivers),
           subsystem(subsystem),
           sound(sound),
+          loop(loop),
           timer()
     {
         addSubsystemRequirement(subsystem);
@@ -44,6 +49,7 @@ class CommandPlaySound : public tap::control::Command
     Sound sound;
 
     int read_index = 0;
+    bool loop = false;
     MilliTimeout timer;
 };  // class CommandPlaySound
 }  // namespace commands