mirror of https://github.com/ArduPilot/ardupilot
76 lines
1.6 KiB
C++
76 lines
1.6 KiB
C++
/*
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* AP_Relay.h
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*
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* Created on: Oct 2, 2011
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* Author: Amilcar Lucas
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*/
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/// @file AP_Relay.h
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/// @brief APM relay control class
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#pragma once
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#include "AP_Relay_config.h"
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#if AP_RELAY_ENABLED
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#include <AP_Param/AP_Param.h>
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#define AP_RELAY_NUM_RELAYS 6
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/// @class AP_Relay
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/// @brief Class to manage the ArduPilot relay
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class AP_Relay {
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public:
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AP_Relay();
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/* Do not allow copies */
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CLASS_NO_COPY(AP_Relay);
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// setup the relay pin
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void init();
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// set relay to state
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void set(uint8_t instance, bool value);
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// activate the relay
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void on(uint8_t instance) { set(instance, true); }
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// de-activate the relay
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void off(uint8_t instance) { set(instance, false); }
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// get state of relay
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uint8_t get(uint8_t instance) const {
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return instance < AP_RELAY_NUM_RELAYS ? _pin_states & (1U<<instance) : 0;
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}
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// see if the relay is enabled
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bool enabled(uint8_t instance) const { return instance < AP_RELAY_NUM_RELAYS && _pin[instance] != -1; }
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// toggle the relay status
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void toggle(uint8_t instance);
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// check settings are valid
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bool arming_checks(size_t buflen, char *buffer) const;
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static AP_Relay *get_singleton(void) {return singleton; }
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static const struct AP_Param::GroupInfo var_info[];
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bool send_relay_status(const class GCS_MAVLINK &link) const;
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private:
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static AP_Relay *singleton;
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AP_Int8 _pin[AP_RELAY_NUM_RELAYS];
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AP_Int8 _default;
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uint8_t _pin_states;
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uint8_t _last_logged_pin_states;
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uint32_t _last_log_ms;
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};
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namespace AP {
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AP_Relay *relay();
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};
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#endif // AP_RELAY_ENABLED
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