ardupilot/libraries/AP_Relay/AP_Relay.h

73 lines
1.6 KiB
C++

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