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AP_Mission: move servorelayevents handling into AP_Mission

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This commit is contained in:
Peter Barker 2018-10-23 17:11:47 +11:00 committed by Peter Barker
parent e79d107761
commit 51d4b2da34
3 changed files with 46 additions and 0 deletions
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9
libraries/AP_Mission/AP_Mission.cpp
View File

@ -264,6 +264,10 @@ bool AP_Mission::verify_command(const Mission_Command& cmd)
switch (cmd.id) {
// do-commands always return true for verify:
case MAV_CMD_DO_GRIPPER:
case MAV_CMD_DO_SET_SERVO:
case MAV_CMD_DO_SET_RELAY:
case MAV_CMD_DO_REPEAT_SERVO:
case MAV_CMD_DO_REPEAT_RELAY:
return true;
default:
return _cmd_verify_fn(cmd);
@ -275,6 +279,11 @@ bool AP_Mission::start_command(const Mission_Command& cmd)
switch (cmd.id) {
case MAV_CMD_DO_GRIPPER:
return start_command_do_gripper(cmd);
case MAV_CMD_DO_SET_SERVO:
case MAV_CMD_DO_SET_RELAY:
case MAV_CMD_DO_REPEAT_SERVO:
case MAV_CMD_DO_REPEAT_RELAY:
return start_command_do_servorelayevents(cmd);
default:
return _cmd_start_fn(cmd);
}

1
libraries/AP_Mission/AP_Mission.h
View File

@ -581,6 +581,7 @@ private:
// mission items common to all vehicles:
bool start_command_do_gripper(const AP_Mission::Mission_Command& cmd);
bool start_command_do_servorelayevents(const AP_Mission::Mission_Command& cmd);
};
namespace AP {

36
libraries/AP_Mission/AP_Mission_Commands.cpp
View File

@ -2,6 +2,7 @@
#include <GCS_MAVLink/GCS.h>
#include <AP_Gripper/AP_Gripper.h>
#include <AP_ServoRelayEvents/AP_ServoRelayEvents.h>
bool AP_Mission::start_command_do_gripper(const AP_Mission::Mission_Command& cmd)
{
@ -30,3 +31,38 @@ bool AP_Mission::start_command_do_gripper(const AP_Mission::Mission_Command& cmd
return true;
}
bool AP_Mission::start_command_do_servorelayevents(const AP_Mission::Mission_Command& cmd)
{
AP_ServoRelayEvents *sre = AP::servorelayevents();
if (sre == nullptr) {
return true;
}
switch (cmd.id) {
case MAV_CMD_DO_SET_SERVO:
sre->do_set_servo(cmd.content.servo.channel, cmd.content.servo.pwm);
break;
case MAV_CMD_DO_SET_RELAY:
sre->do_set_relay(cmd.content.relay.num, cmd.content.relay.state);
break;
case MAV_CMD_DO_REPEAT_SERVO:
sre->do_repeat_servo(cmd.content.repeat_servo.channel,
cmd.content.repeat_servo.pwm,
cmd.content.repeat_servo.repeat_count,
cmd.content.repeat_servo.cycle_time * 1000.0f);
break;
case MAV_CMD_DO_REPEAT_RELAY:
sre->do_repeat_relay(cmd.content.repeat_relay.num,
cmd.content.repeat_relay.repeat_count,
cmd.content.repeat_relay.cycle_time * 1000.0f);
break;
default:
break;
}
return true;
}