ardupilot/libraries/AP_Limits/AP_Limit_Module.h

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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/// @brief Imposes limits on location (geofence), altitude and other parameters.
/// Each breach will trigger an action or set of actions to recover. Adapted from geofence.
/// @author Andrew Tridgell
/// Andreas Antonopoulos
#ifndef AP_LIMIT_MODULE_H_
#define AP_LIMIT_MODULE_H_
#include <AP_Common.h>
// The module IDs are defined as powers of 2, to make a bit-field
enum moduleid {
AP_LIMITS_NULLMODULE = 0, // not a module - used to set the "zero" value
AP_LIMITS_GPSLOCK = (1 << 0), // a GPS-lock-required limit
AP_LIMITS_GEOFENCE = (1 << 1), // fence within a set of coordinates
AP_LIMITS_ALTITUDE = (1 << 2) // altitude limits
};
extern const prog_char_t * get_module_name(enum moduleid i);
// an integer type big enough to fit a bit field for all modules. We have 3 modules, so 8-bit int is enough.
typedef uint8_t LimitModuleBits;
class AP_Limit_Module {
public:
AP_Limit_Module(enum moduleid id); // initialize a new module
bool init(); // initialize self
virtual moduleid get_module_id();
virtual bool enabled();
virtual bool required();
virtual AP_Limit_Module * next(); // return next module in linked list
virtual void link(AP_Limit_Module *m); // link the next module in the linked list
virtual bool triggered(); // trigger check function
virtual void action(); // recovery action
protected:
AP_Int8 _enabled; // often exposed as a MAVLink parameter
AP_Int8 _required;
AP_Int8 _triggered;
private:
enum moduleid _id;
AP_Limit_Module * _next;
};
#endif /* AP_LIMIT_MODULE_H_ */