ardupilot/libraries/AP_ServoRelayEvents/AP_ServoRelayEvents.h

66 lines
1.5 KiB
C++

/*
* AP_ServoRelayEvent.h
*
* handle DO_SET_SERVO, DO_REPEAT_SERVO, DO_SET_RELAY and
* DO_REPEAT_RELAY commands
*/
#pragma once
#include <AP_Param/AP_Param.h>
#include <AP_Relay/AP_Relay.h>
class AP_ServoRelayEvents {
public:
AP_ServoRelayEvents()
: type(EVENT_TYPE_RELAY)
{
_singleton = this;
}
/* Do not allow copies */
AP_ServoRelayEvents(const AP_ServoRelayEvents &other) = delete;
AP_ServoRelayEvents &operator=(const AP_ServoRelayEvents&) = delete;
// get singleton instance
static AP_ServoRelayEvents *get_singleton() {
return _singleton;
}
bool do_set_servo(uint8_t channel, uint16_t pwm);
bool do_set_relay(uint8_t relay_num, uint8_t state);
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);
void update_events(void);
private:
static AP_ServoRelayEvents *_singleton;
// event control state
enum event_type {
EVENT_TYPE_RELAY=0,
EVENT_TYPE_SERVO=1
};
enum event_type type;
// when the event was started in ms
uint32_t start_time_ms;
// how long to delay the next firing of event in millis
uint16_t delay_ms;
// how many times to cycle : -1 (or -2) = forever, 2 = do one cycle, 4 = do two cycles
int16_t repeat;
// RC channel for servos, relay number for relays
uint8_t channel;
// PWM for servos
uint16_t servo_value;
};
namespace AP {
AP_ServoRelayEvents *servorelayevents();
};