Line data    Source code

       1             : /*
       2             :  * AP_ServoRelayEvent.h
       3             :  *
       4             :  * handle DO_SET_SERVO, DO_REPEAT_SERVO, DO_SET_RELAY and
       5             :  * DO_REPEAT_RELAY commands
       6             :  */
       7             : #pragma once
       8             : 
       9             : #include "AP_ServoRelayEvents_config.h"
      10             : 
      11             : #if AP_SERVORELAYEVENTS_ENABLED
      12             : 
      13             : #include <AP_Param/AP_Param.h>
      14             : #include <AP_Relay/AP_Relay.h>
      15             : 
      16             : class AP_ServoRelayEvents {
      17             : public:
      18        2098 :     AP_ServoRelayEvents()
      19             : #if AP_RELAY_ENABLED
      20        2098 :         : type(EVENT_TYPE_RELAY)
      21             : #endif
      22             :     {
      23        2098 :         _singleton = this;
      24        2098 :     }
      25             : 
      26             :     /* Do not allow copies */
      27             :     CLASS_NO_COPY(AP_ServoRelayEvents);
      28             : 
      29             :     // get singleton instance
      30         832 :     static AP_ServoRelayEvents *get_singleton() {
      31         832 :         return _singleton;
      32             :     }
      33             : 
      34             :     bool do_set_servo(uint8_t channel, uint16_t pwm);
      35             : #if AP_RELAY_ENABLED
      36             :     bool do_set_relay(uint8_t relay_num, uint8_t state);
      37             : #endif
      38             :     bool do_repeat_servo(uint8_t channel, uint16_t servo_value, int16_t repeat, uint16_t delay_time_ms);
      39             : #if AP_RELAY_ENABLED
      40             :     bool do_repeat_relay(uint8_t relay_num, int16_t count, uint32_t period_ms);
      41             : #endif
      42             :     void update_events(void);
      43             : 
      44             : private:
      45             : 
      46             :     static AP_ServoRelayEvents *_singleton;
      47             : 
      48             :     // event control state
      49             :     enum event_type { 
      50             : #if AP_RELAY_ENABLED
      51             :         EVENT_TYPE_RELAY=0,
      52             : #endif
      53             :         EVENT_TYPE_SERVO=1
      54             :     };
      55             : 
      56             :     enum event_type type;
      57             : 
      58             :         // when the event was started in ms
      59             :     uint32_t start_time_ms;
      60             : 
      61             :         // how long to delay the next firing of event in millis
      62             :     uint16_t delay_ms;
      63             : 
      64             :         // how many times to cycle : -1 (or -2) = forever, 2 = do one cycle, 4 = do two cycles
      65             :     int16_t repeat;
      66             : 
      67             :     // RC channel for servos, relay number for relays
      68             :     uint8_t channel;
      69             : 
      70             :         // PWM for servos
      71             :         uint16_t servo_value;
      72             : };
      73             : 
      74             : namespace AP {
      75             :     AP_ServoRelayEvents *servorelayevents();
      76             : };
      77             : 
      78             : #endif  // AP_SERVORELAYEVENTS_ENABLED