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>
#include <AP_Param.h>
// The module IDs are defined as powers of 2, to make a bit-field
enum moduleid {
// not a module - used to set the "zero" value
AP_LIMITS_NULLMODULE = 0,
// a GPS-lock-required limit
AP_LIMITS_GPSLOCK = (1 << 0),
// fence within a set of coordinates
AP_LIMITS_GEOFENCE = (1 << 1),
// altitude limits
AP_LIMITS_ALTITUDE = (1 << 2)
};
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:
// initialize a new module
AP_Limit_Module(enum moduleid id);
// initialize self
bool init();
virtual moduleid get_module_id();
virtual bool enabled();
virtual bool required();
// return next module in linked list
virtual AP_Limit_Module * next();
// link the next module in the linked list
virtual void link(AP_Limit_Module *m);
// trigger check function
virtual bool triggered();
// recovery action
virtual void action();
protected:
// often exposed as a MAVLink parameter
AP_Int8 _enabled;
AP_Int8 _required;
AP_Int8 _triggered;
private:
enum moduleid _id;
AP_Limit_Module * _next;
};
#endif // __AP_LIMIT_MODULE_H__