ardupilot/libraries/AP_Limits/AP_Limits.h

123 lines
3.9 KiB
C++

// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/// @brief Imposes limits on location (geofence), altitude and other parameters.
/// Each breach will trigger an action or set of actions to recover.
/// dapted from geofence.
/// @author Andrew Tridgell
/// Andreas Antonopoulos
#ifndef __AP_LIMITS_H__
#define __AP_LIMITS_H__
// XXX this isn't where enabled/disabled goes.
#ifndef AP_LIMITS
#define AP_LIMITS ENABLED
#endif
#include <stdint.h>
#include <AP_Param.h>
#include "AP_Limit_Module.h"
#include "AP_Limit_Altitude.h"
#include "AP_Limit_Geofence.h"
#include "AP_Limit_GPSLock.h"
#ifndef HAVE_ENUM_LIMITS_STATE
#define HAVE_ENUM_LIMITS_STATE
enum LimitState {
LIMITS_INIT, // pre-initialization
LIMITS_DISABLED, // disabled
LIMITS_ENABLED, // checking limits
LIMITS_TRIGGERED, // a limit has been breached
LIMITS_RECOVERING, // taking action, eg. RTL
LIMITS_RECOVERED, // we're no longer in breach of a limit
};
#endif
class AP_Limits {
public:
AP_Limits();
// access functions
bool enabled();
bool debug();
bool required();
int8_t state();
int8_t safetime();
int8_t channel();
int8_t recmode();
// module linked list management methods
// pointer to the first module in linked list of modules
void modules(AP_Limit_Module *m);
AP_Limit_Module * modules_first();
AP_Limit_Module * modules_current();
AP_Limit_Module * modules_last();
AP_Limit_Module * modules_next();
void modules_add(AP_Limit_Module *m);
uint8_t modules_count();
// main limit methods
// initialize self and all modules
bool init();
// change state
void set_state(int s);
// check if any limit is triggered
bool check_all();
// check if any of the required modules is triggered
bool check_required();
// the function that does the checking for the two above
bool check_triggered(bool required);
// time of last limit breach (trigger)
uint32_t last_trigger;
// time of last recovery action taken
uint32_t last_action;
// time of last recovery success
uint32_t last_recovery;
// time of last recovery success
uint32_t last_status_update;
// last time all triggers were clear (or 0 if never clear)
uint32_t last_clear;
// count of total breaches
uint16_t breach_count;
uint8_t old_mode_switch;
LimitModuleBits mods_enabled;
LimitModuleBits mods_required;
LimitModuleBits mods_triggered;
LimitModuleBits mods_recovering;
// module parameters
static const struct AP_Param::GroupInfo var_info[];
protected:
// the entire AP_Limits system on/off switch
AP_Int8 _enabled;
// master switch for pre-arm checks of limits. Will not allow vehicle to
// "arm" if breaching limits.
AP_Int8 _required;
// enable debug console messages
AP_Int8 _debug;
// how long after recovered before switching to stabilize
AP_Int8 _safetime;
// overall state - used in the main loop state machine inside the
// vehicle's slow loop.
AP_Int8 _state;
// channel used for switching limits on/off
AP_Int8 _channel;
// recovery mode: 0=RTL mode, 1=bounce mode
AP_Int8 _recmode;
private:
// points to linked list of modules
AP_Limit_Module * _modules_head;
// points to linked list of modules
AP_Limit_Module * _modules_current;
uint8_t _modules_count;
};
#endif // __AP_LIMITS_H__