AC_Sprayer.h

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#pragma once

#include <inttypes.h>
#include <AP_Common/AP_Common.h>
#include <AP_Param/AP_Param.h>
#include <AP_Math/AP_Math.h>
#include <SRV_Channel/SRV_Channel.h>
#include <AP_AHRS/AP_AHRS.h>

#define AC_SPRAYER_DEFAULT_PUMP_RATE        10.0f   
#define AC_SPRAYER_DEFAULT_PUMP_MIN         0       
#define AC_SPRAYER_DEFAULT_SPINNER_PWM      1300    
#define AC_SPRAYER_DEFAULT_SPEED_MIN        100     
#define AC_SPRAYER_DEFAULT_TURN_ON_DELAY    100     
#define AC_SPRAYER_DEFAULT_SHUT_OFF_DELAY   1000    

class AC_Sprayer {
public:
    AC_Sprayer();

    /* Do not allow copies */
    AC_Sprayer(const AC_Sprayer &other) = delete;
    AC_Sprayer &operator=(const AC_Sprayer&) = delete;

    void run(bool true_false);

    bool running() const { return _flags.running; }

    bool spraying() const { return _flags.spraying; }

    void test_pump(bool true_false) { _flags.testing = true_false; }


    void set_pump_rate(float pct_at_1ms) { _pump_pct_1ms.set(pct_at_1ms); }

    void update();

    static const struct AP_Param::GroupInfo var_info[];

private:

    // parameters
    AP_Int8         _enabled;               
    AP_Float        _pump_pct_1ms;          
    AP_Int8         _pump_min_pct;          
    AP_Int16        _spinner_pwm;           
    AP_Float        _speed_min;             

    struct sprayer_flags_type {
        uint8_t spraying    : 1;            
        uint8_t testing     : 1;            
        uint8_t running     : 1;            
    } _flags;

    // internal variables
    uint32_t        _speed_over_min_time;   
    uint32_t        _speed_under_min_time;  

    void stop_spraying();
};