mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-03 22:48:29 -04:00
c7d8682969
This commit changes the way libraries headers are included in source files: - If the header is in the same directory the source belongs to, so the notation '#include ""' is used with the path relative to the directory containing the source. - If the header is outside the directory containing the source, then we use the notation '#include <>' with the path relative to libraries folder. Some of the advantages of such approach: - Only one search path for libraries headers. - OSs like Windows may have a better lookup time.
67 lines
1.6 KiB
C++
67 lines
1.6 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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* AP_ServoRelayEvent.h
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*
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* handle DO_SET_SERVO, DO_REPEAT_SERVO, DO_SET_RELAY and
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* DO_REPEAT_RELAY commands
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*/
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#ifndef __AP_SERVORELAYEVENTS_H__
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#define __AP_SERVORELAYEVENTS_H__
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#include <AP_Param/AP_Param.h>
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#include <AP_Relay/AP_Relay.h>
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class AP_ServoRelayEvents {
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public:
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AP_ServoRelayEvents(AP_Relay &_relay) :
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relay(_relay),
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mask(0),
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type(EVENT_TYPE_RELAY),
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start_time_ms(0),
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delay_ms(0),
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repeat(0),
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channel(0),
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servo_value(0)
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{}
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// set allowed servo channel mask
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void set_channel_mask(uint16_t _mask) { mask = _mask; }
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bool do_set_servo(uint8_t channel, uint16_t pwm);
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bool do_set_relay(uint8_t relay_num, uint8_t state);
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bool do_repeat_servo(uint8_t channel, uint16_t servo_value, int16_t repeat, uint16_t delay_time_ms);
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bool do_repeat_relay(uint8_t relay_num, int16_t count, uint32_t period_ms);
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void update_events(void);
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private:
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AP_Relay &relay;
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uint16_t mask;
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// event control state
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enum event_type {
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EVENT_TYPE_RELAY=0,
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EVENT_TYPE_SERVO=1
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};
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enum event_type type;
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// when the event was started in ms
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uint32_t start_time_ms;
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// how long to delay the next firing of event in millis
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uint16_t delay_ms;
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// how many times to cycle : -1 (or -2) = forever, 2 = do one cycle, 4 = do two cycles
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int16_t repeat;
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// RC channel for servos, relay number for relays
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uint8_t channel;
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// PWM for servos
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uint16_t servo_value;
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};
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#endif /* AP_SERVORELAYEVENTS_H_ */
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