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