ardupilot/libraries/AP_Relay/AP_Relay.h

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/*
* AP_Relay.h
*
* Created on: Oct 2, 2011
* Author: Amilcar Lucas
*/
/// @file AP_Relay.h
/// @brief APM relay control class
#pragma once
#include <AP_Param/AP_Param.h>
#define AP_RELAY_NUM_RELAYS 6
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/// @class AP_Relay
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/// @brief Class to manage the ArduPilot relay
class AP_Relay {
public:
AP_Relay();
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/* Do not allow copies */
AP_Relay(const AP_Relay &other) = delete;
AP_Relay &operator=(const AP_Relay&) = delete;
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// setup the relay pin
void init();
// activate the relay
void on(uint8_t instance) { set(instance, true); }
// de-activate the relay
void off(uint8_t instance) { set(instance, false); }
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// see if the relay is enabled
bool enabled(uint8_t instance) { return instance < AP_RELAY_NUM_RELAYS && _pin[instance] != -1; }
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// toggle the relay status
void toggle(uint8_t instance);
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// check settings are valid
bool arming_checks(size_t buflen, char *buffer) const;
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static AP_Relay *get_singleton(void) {return singleton; }
static const struct AP_Param::GroupInfo var_info[];
private:
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static AP_Relay *singleton;
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AP_Int8 _pin[AP_RELAY_NUM_RELAYS];
AP_Int8 _default;
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void set(uint8_t instance, bool value);
};
namespace AP {
AP_Relay *relay();
};