ardupilot/libraries/AP_ServoRelayEvents/AP_ServoRelayEvents.h

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/*
* AP_ServoRelayEvent.h
*
* handle DO_SET_SERVO, DO_REPEAT_SERVO, DO_SET_RELAY and
* DO_REPEAT_RELAY commands
*/
#pragma once
#include <AP_Param/AP_Param.h>
#include <AP_Relay/AP_Relay.h>
class AP_ServoRelayEvents {
public:
AP_ServoRelayEvents(AP_Relay &_relay)
: relay(_relay)
, mask(0)
, type(EVENT_TYPE_RELAY)
, start_time_ms(0)
, delay_ms(0)
, repeat(0)
, channel(0)
, servo_value(0)
{
}
/* Do not allow copies */
AP_ServoRelayEvents(const AP_ServoRelayEvents &other) = delete;
AP_ServoRelayEvents &operator=(const AP_ServoRelayEvents&) = delete;
// set allowed servo channel mask
void set_channel_mask(uint16_t _mask) { mask = _mask; }
bool do_set_servo(uint8_t channel, uint16_t pwm);
bool do_set_relay(uint8_t relay_num, uint8_t state);
bool do_repeat_servo(uint8_t channel, uint16_t servo_value, int16_t repeat, uint16_t delay_time_ms);
bool do_repeat_relay(uint8_t relay_num, int16_t count, uint32_t period_ms);
void update_events(void);
private:
AP_Relay &relay;
uint16_t mask;
// event control state
enum event_type {
EVENT_TYPE_RELAY=0,
EVENT_TYPE_SERVO=1
};
enum event_type type;
// when the event was started in ms
uint32_t start_time_ms;
// how long to delay the next firing of event in millis
uint16_t delay_ms;
// how many times to cycle : -1 (or -2) = forever, 2 = do one cycle, 4 = do two cycles
int16_t repeat;
// RC channel for servos, relay number for relays
uint8_t channel;
// PWM for servos
uint16_t servo_value;
};