mirror of https://github.com/ArduPilot/ardupilot
63 lines
1.7 KiB
C++
63 lines
1.7 KiB
C++
#pragma once
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#include <AP_Param/AP_Param.h>
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#define LEAKDETECTOR_MAX_INSTANCES 3
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#define LEAKDETECTOR_COOLDOWN_MS 3000 // Status will return true for this long after last time leak was detected
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class AP_LeakDetector_Backend;
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class AP_LeakDetector {
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friend class AP_LeakDetector_Analog;
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friend class AP_LeakDetector_Digital;
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public:
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static AP_LeakDetector create() { return AP_LeakDetector{}; }
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constexpr AP_LeakDetector(AP_LeakDetector &&other) = default;
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/* Do not allow copies */
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AP_LeakDetector(const AP_LeakDetector &other) = delete;
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AP_LeakDetector &operator=(const AP_LeakDetector&) = delete;
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enum LeakDetector_Type {
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LEAKDETECTOR_TYPE_NONE = 0,
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LEAKDETECTOR_TYPE_DIGITAL = 1,
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LEAKDETECTOR_TYPE_ANALOG = 2
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};
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struct LeakDetector_State {
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uint8_t instance;
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bool status; // leaking?
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};
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// Return current status
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bool get_status(void) const { return _status; }
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// Set status externally, ie via mavlink message from subsystems
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void set_detect(void);
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// Initialize all drivers
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void init(void);
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// Update all drivers
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bool update(void);
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static const struct AP_Param::GroupInfo var_info[];
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private:
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AP_LeakDetector();
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AP_LeakDetector_Backend *_drivers[LEAKDETECTOR_MAX_INSTANCES];
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LeakDetector_State _state[LEAKDETECTOR_MAX_INSTANCES];
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bool _status; // Current status, true if leak detected, false if all sensors dry
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uint32_t _last_detect_ms;
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AP_Int8 _type[LEAKDETECTOR_MAX_INSTANCES]; // Analog, Digital, Mavlink
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AP_Int8 _pin[LEAKDETECTOR_MAX_INSTANCES]; // Pin that detector is connected to
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AP_Int8 _default_reading[LEAKDETECTOR_MAX_INSTANCES]; // Default reading when leak detector is dry
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};
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