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uncrustify libraries/AP_Limits/AP_Limits.h

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uncrustify 2012-08-16 23:20:06 -07:00 committed by Pat Hickey
parent 06c79f9aa6
commit 815d7c583e
1 changed files with 53 additions and 53 deletions
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106
libraries/AP_Limits/AP_Limits.h
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@ -9,7 +9,7 @@
#define AP_LIMITS_H #define AP_LIMITS_H
#ifndef AP_LIMITS #ifndef AP_LIMITS
#define AP_LIMITS ENABLED #define AP_LIMITS ENABLED
#endif #endif
#include <stdint.h> #include <stdint.h>
@ -25,14 +25,14 @@
#ifndef HAVE_ENUM_LIMITS_STATE #ifndef HAVE_ENUM_LIMITS_STATE
#define HAVE_ENUM_LIMITS_STATE #define HAVE_ENUM_LIMITS_STATE
enum LimitState { enum LimitState {
LIMITS_INIT, // pre-initialization LIMITS_INIT, // pre-initialization
LIMITS_DISABLED, // disabled LIMITS_DISABLED, // disabled
LIMITS_ENABLED, // checking limits LIMITS_ENABLED, // checking limits
LIMITS_TRIGGERED, // a limit has been breached LIMITS_TRIGGERED, // a limit has been breached
LIMITS_RECOVERING, // taking action, eg. RTL LIMITS_RECOVERING, // taking action, eg. RTL
LIMITS_RECOVERED, // we're no longer in breach of a limit LIMITS_RECOVERED, // we're no longer in breach of a limit
}; };
#endif #endif
@ -40,64 +40,64 @@ class AP_Limits {
public: public:
AP_Limits(); AP_Limits();
// access functions // access functions
bool enabled(); bool enabled();
bool debug(); bool debug();
bool required(); bool required();
AP_Int8 state(); AP_Int8 state();
AP_Int8 safetime(); AP_Int8 safetime();
AP_Int8 channel(); AP_Int8 channel();
AP_Int8 recmode(); AP_Int8 recmode();
// module linked list management methods // module linked list management methods
void modules(AP_Limit_Module *m); // pointer to the first module in linked list of modules void modules(AP_Limit_Module *m); // pointer to the first module in linked list of modules
AP_Limit_Module *modules_first(); AP_Limit_Module * modules_first();
AP_Limit_Module *modules_current(); AP_Limit_Module * modules_current();
AP_Limit_Module *modules_last(); AP_Limit_Module * modules_last();
AP_Limit_Module *modules_next(); AP_Limit_Module * modules_next();
void modules_add(AP_Limit_Module *m); void modules_add(AP_Limit_Module *m);
uint8_t modules_count(); uint8_t modules_count();
// main limit methods // main limit methods
bool init(); // initialize self and all modules bool init(); // initialize self and all modules
void set_state(int s); // change state void set_state(int s); // change state
bool check_all(); // check if any limit is triggered bool check_all(); // check if any limit is triggered
bool check_required(); // check if any of the required modules is triggered bool check_required(); // check if any of the required modules is triggered
bool check_triggered(bool required); // the function that does the checking for the two above bool check_triggered(bool required); // the function that does the checking for the two above
uint32_t last_trigger; // time of last limit breach (trigger) uint32_t last_trigger; // time of last limit breach (trigger)
uint32_t last_action; // time of last recovery action taken uint32_t last_action; // time of last recovery action taken
uint32_t last_recovery; // time of last recovery success uint32_t last_recovery; // time of last recovery success
uint32_t last_status_update; // time of last recovery success uint32_t last_status_update; // time of last recovery success
uint32_t last_clear; // last time all triggers were clear (or 0 if never clear) uint32_t last_clear; // last time all triggers were clear (or 0 if never clear)
uint16_t breach_count; // count of total breaches uint16_t breach_count; // count of total breaches
byte old_mode_switch; byte old_mode_switch;
LimitModuleBits mods_enabled; LimitModuleBits mods_enabled;
LimitModuleBits mods_required; LimitModuleBits mods_required;
LimitModuleBits mods_triggered; LimitModuleBits mods_triggered;
LimitModuleBits mods_recovering; LimitModuleBits mods_recovering;
static const struct AP_Param::GroupInfo var_info[]; // module parameters static const struct AP_Param::GroupInfo var_info[]; // module parameters
protected: protected:
AP_Int8 _enabled; // the entire AP_Limits system on/off switch AP_Int8 _enabled; // the entire AP_Limits system on/off switch
AP_Int8 _required; // master switch for pre-arm checks of limits. Will not allow vehicle to "arm" if breaching limits. AP_Int8 _required; // master switch for pre-arm checks of limits. Will not allow vehicle to "arm" if breaching limits.
AP_Int8 _debug; // enable debug console messages AP_Int8 _debug; // enable debug console messages
AP_Int8 _safetime; // how long after recovered before switching to stabilize AP_Int8 _safetime; // how long after recovered before switching to stabilize
AP_Int8 _state; // overall state - used in the main loop state machine inside the vehicle's slow loop. AP_Int8 _state; // overall state - used in the main loop state machine inside the vehicle's slow loop.
AP_Int8 _channel; // channel used for switching limits on/off AP_Int8 _channel; // channel used for switching limits on/off
AP_Int8 _recmode; // recovery mode: 0=RTL mode, 1=bounce mode AP_Int8 _recmode; // recovery mode: 0=RTL mode, 1=bounce mode
private: private:
AP_Limit_Module *_modules_head; // points to linked list of modules AP_Limit_Module * _modules_head; // points to linked list of modules
AP_Limit_Module *_modules_current; // points to linked list of modules AP_Limit_Module * _modules_current; // points to linked list of modules
uint8_t _modules_count; uint8_t _modules_count;
}; };