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RC_Channel: move handling of sprayer and gripper in from Copter

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This commit is contained in:
Peter Barker 2018-06-08 13:37:51 +10:00 committed by Randy Mackay
parent 6e0b5e307a
commit e4d3ed7e39
2 changed files with 53 additions and 2 deletions
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51
libraries/RC_Channel/RC_Channel.cpp
View File

@ -29,6 +29,9 @@ extern const AP_HAL::HAL& hal;
#include <GCS_MAVLink/GCS.h>
#include <AC_Sprayer/AC_Sprayer.h>
#include <AP_Gripper/AP_Gripper.h>
const AP_Param::GroupInfo RC_Channel::var_info[] = {
// @Param: MIN
// @DisplayName: RC min PWM
@ -414,10 +417,14 @@ void RC_Channel::init_aux_function(const aux_func_t ch_option, const aux_switch_
case CAMERA_TRIGGER:
case DO_NOTHING:
break;
case GRIPPER:
case SPRAYER:
do_aux_function(ch_option, ch_flag);
break;
default:
gcs().send_text(MAV_SEVERITY_WARNING, "Failed to initialise RC function (%u)", ch_option);
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
AP_HAL::panic("Initialisation failed");
AP_HAL::panic("RC function (%u) initialisation", ch_option);
#endif
break;
}
@ -473,6 +480,40 @@ void RC_Channel::do_aux_function_relay(const uint8_t relay, bool val)
servorelayevents->do_set_relay(relay, val);
}
void RC_Channel::do_aux_function_sprayer(const aux_switch_pos_t ch_flag)
{
AC_Sprayer *sprayer = AP::sprayer();
if (sprayer == nullptr) {
return;
}
sprayer->run(ch_flag == HIGH);
// if we are disarmed the pilot must want to test the pump
sprayer->test_pump((ch_flag == HIGH) && !hal.util->get_soft_armed());
}
void RC_Channel::do_aux_function_gripper(const aux_switch_pos_t ch_flag)
{
AP_Gripper *gripper = AP::gripper();
if (gripper == nullptr) {
return;
}
switch(ch_flag) {
case LOW:
gripper->release();
// copter.Log_Write_Event(DATA_GRIPPER_RELEASE);
break;
case MIDDLE:
// nothing
break;
case HIGH:
gripper->grab();
// copter.Log_Write_Event(DATA_GRIPPER_GRAB);
break;
}
}
void RC_Channel::do_aux_function(const aux_func_t ch_option, const aux_switch_pos_t ch_flag)
{
switch(ch_option) {
@ -480,6 +521,10 @@ void RC_Channel::do_aux_function(const aux_func_t ch_option, const aux_switch_po
do_aux_function_camera_trigger(ch_flag);
break;
case GRIPPER:
do_aux_function_gripper(ch_flag);
break;
case RELAY:
do_aux_function_relay(0, ch_flag == HIGH);
break;
@ -493,6 +538,10 @@ void RC_Channel::do_aux_function(const aux_func_t ch_option, const aux_switch_po
do_aux_function_relay(3, ch_flag == HIGH);
break;
case SPRAYER:
do_aux_function_sprayer(ch_flag);
break;
default:
gcs().send_text(MAV_SEVERITY_INFO, "Invalid channel option (%u)", ch_option);
break;

4
libraries/RC_Channel/RC_Channel.h
View File

@ -179,8 +179,10 @@ protected:
virtual void init_aux_function(aux_func_t ch_option, aux_switch_pos_t);
virtual void do_aux_function(aux_func_t ch_option, aux_switch_pos_t);
void do_aux_function_relay(uint8_t relay, bool val);
void do_aux_function_camera_trigger(const aux_switch_pos_t ch_flag);
void do_aux_function_gripper(const aux_switch_pos_t ch_flag);
void do_aux_function_relay(uint8_t relay, bool val);
void do_aux_function_sprayer(const aux_switch_pos_t ch_flag);
typedef int8_t modeswitch_pos_t;
virtual void mode_switch_changed(modeswitch_pos_t new_pos) {