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AP_ServoRelayEvents: use Relay singleton

This commit is contained in:
Peter Barker 2019-06-28 09:46:05 +10:00 committed by Tom Pittenger
parent 8e5ec84317
commit c515d17a4a
2 changed files with 22 additions and 13 deletions
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28
libraries/AP_ServoRelayEvents/AP_ServoRelayEvents.cpp
View File

@ -54,7 +54,12 @@ bool AP_ServoRelayEvents::do_set_servo(uint8_t _channel, uint16_t pwm)
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)
{ {
if (!relay.enabled(relay_num)) { AP_Relay *relay = AP::relay();
if (relay == nullptr) {
return false;
}
if (!relay->enabled(relay_num)) {
return false; return false;
} }
if (type == EVENT_TYPE_RELAY && if (type == EVENT_TYPE_RELAY &&
@ -63,11 +68,11 @@ bool AP_ServoRelayEvents::do_set_relay(uint8_t relay_num, uint8_t state)
repeat = 0; repeat = 0;
} }
if (state == 1) { if (state == 1) {
relay.on(relay_num); relay->on(relay_num);
} else if (state == 0) { } else if (state == 0) {
relay.off(relay_num); relay->off(relay_num);
} else { } else {
relay.toggle(relay_num); relay->toggle(relay_num);
} }
return true; return true;
} }
@ -102,7 +107,11 @@ bool AP_ServoRelayEvents::do_repeat_servo(uint8_t _channel, uint16_t _servo_valu
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)
{ {
if (!relay.enabled(relay_num)) { AP_Relay *relay = AP::relay();
if (relay == nullptr) {
return false;
}
if (!relay->enabled(relay_num)) {
return false; return false;
} }
type = EVENT_TYPE_RELAY; type = EVENT_TYPE_RELAY;
@ -140,11 +149,14 @@ void AP_ServoRelayEvents::update_events(void)
break; break;
} }
case EVENT_TYPE_RELAY: case EVENT_TYPE_RELAY: {
relay.toggle(channel); AP_Relay *relay = AP::relay();
if (relay != nullptr) {
relay->toggle(channel);
}
break; break;
} }
}
if (repeat > 0) { if (repeat > 0) {
repeat--; repeat--;
} else { } else {

7
libraries/AP_ServoRelayEvents/AP_ServoRelayEvents.h
View File

@ -11,9 +11,8 @@
class AP_ServoRelayEvents { class AP_ServoRelayEvents {
public: public:
AP_ServoRelayEvents(AP_Relay &_relay) AP_ServoRelayEvents()
: relay(_relay) : type(EVENT_TYPE_RELAY)
, type(EVENT_TYPE_RELAY)
{ {
_singleton = this; _singleton = this;
} }
@ -37,8 +36,6 @@ private:
static AP_ServoRelayEvents *_singleton; static AP_ServoRelayEvents *_singleton;
AP_Relay &relay;
// event control state // event control state
enum event_type { enum event_type {
EVENT_TYPE_RELAY=0, EVENT_TYPE_RELAY=0,