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AP_Relay: enable sending of RELAY_STATUS message

This commit is contained in:
Peter Barker 2023-08-03 13:31:12 +10:00 committed by Peter Barker
parent 67988320a7
commit 1e18ca595f
2 changed files with 42 additions and 3 deletions
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41
libraries/AP_Relay/AP_Relay.cpp
View File

@ -5,11 +5,14 @@
* Author: Amilcar Lucas
*/
#include <AP_HAL/AP_HAL.h>
#include "AP_Relay.h"
#include "AP_Relay_config.h"
#if AP_RELAY_ENABLED
#include "AP_Relay.h"
#include <AP_HAL/AP_HAL.h>
#include <GCS_MAVLink/GCS.h>
#include <AP_Logger/AP_Logger.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
@ -190,6 +193,40 @@ bool AP_Relay::arming_checks(size_t buflen, char *buffer) const
return true;
}
#if AP_MAVLINK_MSG_RELAY_STATUS_ENABLED
// this method may only return false if there is no space in the
// supplied link for the message.
bool AP_Relay::send_relay_status(const GCS_MAVLINK &link) const
{
if (!HAVE_PAYLOAD_SPACE(link.get_chan(), RELAY_STATUS)) {
return false;
}
uint16_t present_mask = 0;
uint16_t on_mask = 0;
for (auto i=0; i<AP_RELAY_NUM_RELAYS; i++) {
if (!enabled(i)) {
continue;
}
const uint16_t relay_bit_mask = 1U << i;
present_mask |= relay_bit_mask;
if (_pin_states & relay_bit_mask) {
on_mask |= relay_bit_mask;
}
}
mavlink_msg_relay_status_send(
link.get_chan(),
AP_HAL::millis(),
on_mask,
present_mask
);
return true;
}
#endif // AP_MAVLINK_MSG_RELAY_STATUS_ENABLED
namespace AP {
AP_Relay *relay()

4
libraries/AP_Relay/AP_Relay.h
View File

@ -41,7 +41,7 @@ public:
}
// see if the relay is enabled
bool enabled(uint8_t instance) { return instance < AP_RELAY_NUM_RELAYS && _pin[instance] != -1; }
bool enabled(uint8_t instance) const { return instance < AP_RELAY_NUM_RELAYS && _pin[instance] != -1; }
// toggle the relay status
void toggle(uint8_t instance);
@ -53,6 +53,8 @@ public:
static const struct AP_Param::GroupInfo var_info[];
bool send_relay_status(const class GCS_MAVLINK &link) const;
private:
static AP_Relay *singleton;