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AP_ServoRelayEvents: add option to disable relay and servorelay libraries

This commit is contained in:
Peter Barker 2023-06-06 18:05:06 +10:00 committed by Peter Barker
parent f96266b227
commit 27c3f8525d
3 changed files with 30 additions and 0 deletions
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11
libraries/AP_ServoRelayEvents/AP_ServoRelayEvents.cpp
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@ -16,6 +16,9 @@
* AP_ServoRelayEvents - handle servo and relay MAVLink events * AP_ServoRelayEvents - handle servo and relay MAVLink events
*/ */
#include "AP_ServoRelayEvents_config.h"
#if AP_SERVORELAYEVENTS_ENABLED
#include <AP_HAL/AP_HAL.h> #include <AP_HAL/AP_HAL.h>
#include <AP_Common/AP_Common.h> #include <AP_Common/AP_Common.h>
@ -55,6 +58,7 @@ bool AP_ServoRelayEvents::do_set_servo(uint8_t _channel, uint16_t pwm)
return true; return true;
} }
#if AP_RELAY_ENABLED
bool AP_ServoRelayEvents::do_set_relay(uint8_t relay_num, uint8_t state) bool AP_ServoRelayEvents::do_set_relay(uint8_t relay_num, uint8_t state)
{ {
AP_Relay *relay = AP::relay(); AP_Relay *relay = AP::relay();
@ -79,6 +83,7 @@ bool AP_ServoRelayEvents::do_set_relay(uint8_t relay_num, uint8_t state)
} }
return true; return true;
} }
#endif
bool AP_ServoRelayEvents::do_repeat_servo(uint8_t _channel, uint16_t _servo_value, bool AP_ServoRelayEvents::do_repeat_servo(uint8_t _channel, uint16_t _servo_value,
int16_t _repeat, uint16_t _delay_ms) int16_t _repeat, uint16_t _delay_ms)
@ -111,6 +116,7 @@ bool AP_ServoRelayEvents::do_repeat_servo(uint8_t _channel, uint16_t _servo_valu
return true; return true;
} }
#if AP_RELAY_ENABLED
bool AP_ServoRelayEvents::do_repeat_relay(uint8_t relay_num, int16_t _repeat, uint32_t _delay_ms) bool AP_ServoRelayEvents::do_repeat_relay(uint8_t relay_num, int16_t _repeat, uint32_t _delay_ms)
{ {
AP_Relay *relay = AP::relay(); AP_Relay *relay = AP::relay();
@ -128,6 +134,7 @@ bool AP_ServoRelayEvents::do_repeat_relay(uint8_t relay_num, int16_t _repeat, ui
update_events(); update_events();
return true; return true;
} }
#endif
/* /*
@ -155,6 +162,7 @@ void AP_ServoRelayEvents::update_events(void)
break; break;
} }
#if AP_RELAY_ENABLED
case EVENT_TYPE_RELAY: { case EVENT_TYPE_RELAY: {
AP_Relay *relay = AP::relay(); AP_Relay *relay = AP::relay();
if (relay != nullptr) { if (relay != nullptr) {
@ -162,6 +170,7 @@ void AP_ServoRelayEvents::update_events(void)
} }
break; break;
} }
#endif
} }
if (repeat > 0) { if (repeat > 0) {
repeat--; repeat--;
@ -182,3 +191,5 @@ AP_ServoRelayEvents *servorelayevents()
} }
} }
#endif // AP_SERVORELAYEVENTS_ENABLED

12
libraries/AP_ServoRelayEvents/AP_ServoRelayEvents.h
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@ -6,13 +6,19 @@
*/ */
#pragma once #pragma once
#include "AP_ServoRelayEvents_config.h"
#if AP_SERVORELAYEVENTS_ENABLED
#include <AP_Param/AP_Param.h> #include <AP_Param/AP_Param.h>
#include <AP_Relay/AP_Relay.h> #include <AP_Relay/AP_Relay.h>
class AP_ServoRelayEvents { class AP_ServoRelayEvents {
public: public:
AP_ServoRelayEvents() AP_ServoRelayEvents()
#if AP_RELAY_ENABLED
: type(EVENT_TYPE_RELAY) : type(EVENT_TYPE_RELAY)
#endif
{ {
_singleton = this; _singleton = this;
} }
@ -26,7 +32,9 @@ public:
} }
bool do_set_servo(uint8_t channel, uint16_t pwm); bool do_set_servo(uint8_t channel, uint16_t pwm);
#if AP_RELAY_ENABLED
bool do_set_relay(uint8_t relay_num, uint8_t state); bool do_set_relay(uint8_t relay_num, uint8_t state);
#endif
bool do_repeat_servo(uint8_t channel, uint16_t servo_value, int16_t repeat, uint16_t delay_time_ms); 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); bool do_repeat_relay(uint8_t relay_num, int16_t count, uint32_t period_ms);
void update_events(void); void update_events(void);
@ -37,7 +45,9 @@ private:
// event control state // event control state
enum event_type { enum event_type {
#if AP_RELAY_ENABLED
EVENT_TYPE_RELAY=0, EVENT_TYPE_RELAY=0,
#endif
EVENT_TYPE_SERVO=1 EVENT_TYPE_SERVO=1
}; };
@ -62,3 +72,5 @@ private:
namespace AP { namespace AP {
AP_ServoRelayEvents *servorelayevents(); AP_ServoRelayEvents *servorelayevents();
}; };
#endif // AP_SERVORELAYEVENTS_ENABLED

7
libraries/AP_ServoRelayEvents/AP_ServoRelayEvents_config.h Normal file
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@ -0,0 +1,7 @@
#pragma once
#include <AP_HAL/AP_HAL_Boards.h>
#ifndef AP_SERVORELAYEVENTS_ENABLED
#define AP_SERVORELAYEVENTS_ENABLED 1
#endif