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RC_Channel: move to AuxFuncTrigger structure

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This commit is contained in:
Iampete1 2024-12-13 21:15:46 +00:00 committed by Andrew Tridgell
parent a5741a53cb
commit be86284f18
2 changed files with 34 additions and 16 deletions
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23
libraries/RC_Channel/RC_Channel.cpp
View File

@ -779,7 +779,7 @@ void RC_Channel::init_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos
#endif
#if AP_AHRS_ENABLED
case AUX_FUNC::AHRS_TYPE:
run_aux_function(ch_option, ch_flag, AuxFuncTriggerSource::INIT);
run_aux_function(ch_option, ch_flag, AuxFuncTrigger::Source::INIT);
break;
#endif
default:
@ -977,7 +977,7 @@ bool RC_Channel::read_aux()
#endif
// debounced; undertake the action:
run_aux_function(_option, new_position, AuxFuncTriggerSource::RC);
run_aux_function(_option, new_position, AuxFuncTrigger::Source::RC, get_radio_in());
return true;
}
@ -1402,12 +1402,20 @@ void RC_Channel::do_aux_function_retract_mount(const AuxSwitchPos ch_flag, const
}
#endif // HAL_MOUNT_ENABLED
bool RC_Channel::run_aux_function(AUX_FUNC ch_option, AuxSwitchPos pos, AuxFuncTriggerSource source)
bool RC_Channel::run_aux_function(AUX_FUNC ch_option, AuxSwitchPos pos, AuxFuncTrigger::Source source, int16_t pwm)
{
#if AP_SCRIPTING_ENABLED
rc().set_aux_cached(ch_option, pos);
#endif
const bool ret = do_aux_function(ch_option, pos);
const AuxFuncTrigger trigger {
func: ch_option,
pos: pos,
source: source,
pwm: pwm,
};
const bool ret = do_aux_function(trigger);
#if HAL_LOGGING_ENABLED
// @LoggerMessage: AUXF
@ -1418,7 +1426,7 @@ bool RC_Channel::run_aux_function(AUX_FUNC ch_option, AuxSwitchPos pos, AuxFuncT
// @Field: pos: switch position when function triggered
// @FieldValueEnum: pos: RC_Channel::AuxSwitchPos
// @Field: source: source of auxiliary function invocation
// @FieldValueEnum: source: RC_Channel::AuxFuncTriggerSource
// @FieldValueEnum: source: RC_Channel::AuxFuncTrigger::Source
// @Field: result: true if function was successful
AP::logger().Write(
"AUXF",
@ -1437,8 +1445,11 @@ bool RC_Channel::run_aux_function(AUX_FUNC ch_option, AuxSwitchPos pos, AuxFuncT
return ret;
}
bool RC_Channel::do_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos ch_flag)
bool RC_Channel::do_aux_function(const AuxFuncTrigger &trigger)
{
const AUX_FUNC &ch_option = trigger.func;
const AuxSwitchPos &ch_flag = trigger.pos;
switch (ch_option) {
#if AP_FENCE_ENABLED
case AUX_FUNC::FENCE:

27
libraries/RC_Channel/RC_Channel.h
View File

@ -314,19 +314,26 @@ public:
HIGH // indicates auxiliary switch is in the high position (pwm >1800)
};
enum class AuxFuncTriggerSource : uint8_t {
INIT,
RC,
BUTTON,
MAVLINK,
MISSION,
SCRIPTING,
// Trigger structure containing the function, position and pwm (if applicable)
struct AuxFuncTrigger {
AUX_FUNC func;
AuxSwitchPos pos;
enum class Source : uint8_t {
INIT,
RC,
BUTTON,
MAVLINK,
MISSION,
SCRIPTING,
} source;
// Trigger PWM, only valid for RC source
int16_t pwm;
};
AuxSwitchPos get_aux_switch_pos() const;
// wrapper function around do_aux_function which allows us to log
bool run_aux_function(AUX_FUNC ch_option, AuxSwitchPos pos, AuxFuncTriggerSource source);
bool run_aux_function(AUX_FUNC ch_option, AuxSwitchPos pos, AuxFuncTrigger::Source source, int16_t pwm = 0);
#if AP_RC_CHANNEL_AUX_FUNCTION_STRINGS_ENABLED
const char *string_for_aux_function(AUX_FUNC function) const;
@ -357,7 +364,7 @@ protected:
virtual void init_aux_function(AUX_FUNC ch_option, AuxSwitchPos);
// virtual function to be overridden my subclasses
virtual bool do_aux_function(AUX_FUNC ch_option, AuxSwitchPos);
virtual bool do_aux_function(const AuxFuncTrigger &trigger);
void do_aux_function_armdisarm(const AuxSwitchPos ch_flag);
void do_aux_function_avoid_adsb(const AuxSwitchPos ch_flag);
@ -597,7 +604,7 @@ public:
// method for other parts of the system (e.g. Button and mavlink)
// to trigger auxiliary functions
bool run_aux_function(RC_Channel::AUX_FUNC ch_option, RC_Channel::AuxSwitchPos pos, RC_Channel::AuxFuncTriggerSource source) {
bool run_aux_function(RC_Channel::AUX_FUNC ch_option, RC_Channel::AuxSwitchPos pos, RC_Channel::AuxFuncTrigger::Source source) {
return rc_channel(0)->run_aux_function(ch_option, pos, source);
}