ardupilot/libraries/AP_Relay/AP_Relay.h

51 lines
1.1 KiB
C++

/*
* AP_Relay.h
*
* Created on: Oct 2, 2011
* Author: Amilcar Lucas
*/
/// @file AP_Relay.h
/// @brief APM relay control class
#pragma once
#include <AP_Param/AP_Param.h>
#define AP_RELAY_NUM_RELAYS 4
/// @class AP_Relay
/// @brief Class to manage the ArduPilot relay
class AP_Relay {
public:
static AP_Relay create() { return AP_Relay{}; }
constexpr AP_Relay(AP_Relay &&other) = default;
/* Do not allow copies */
AP_Relay(const AP_Relay &other) = delete;
AP_Relay &operator=(const AP_Relay&) = delete;
// setup the relay pin
void init();
// activate the relay
void on(uint8_t relay);
// de-activate the relay
void off(uint8_t relay);
// see if the relay is enabled
bool enabled(uint8_t relay) { return relay < AP_RELAY_NUM_RELAYS && _pin[relay] != -1; }
// toggle the relay status
void toggle(uint8_t relay);
static const struct AP_Param::GroupInfo var_info[];
private:
AP_Relay();
AP_Int8 _pin[AP_RELAY_NUM_RELAYS];
AP_Int8 _default;
};