AP_Relay: Refactor to support RELAYx_FUNCTION

ArduCopter/Parameters.cpp

@@ -451,9 +451,9 @@ const AP_Param::Info Copter::var_info[] = {
 #endif
 
 #if AP_RELAY_ENABLED
-    // @Group: RELAY_
+    // @Group: RELAY
     // @Path: ../libraries/AP_Relay/AP_Relay.cpp
-    GOBJECT(relay,                  "RELAY_", AP_Relay),
+    GOBJECT(relay,                  "RELAY", AP_Relay),
 #endif
 
 #if PARACHUTE == ENABLED

ArduPlane/Parameters.cpp

@@ -757,9 +757,9 @@ const AP_Param::Info Plane::var_info[] = {
     GOBJECT(arming,                 "ARMING_", AP_Arming_Plane),
 
 #if AP_RELAY_ENABLED
-    // @Group: RELAY_
+    // @Group: RELAY
     // @Path: ../libraries/AP_Relay/AP_Relay.cpp
-    GOBJECT(relay,                  "RELAY_", AP_Relay),
+    GOBJECT(relay,                  "RELAY", AP_Relay),
 #endif
 
 #if PARACHUTE == ENABLED

ArduSub/Parameters.cpp

@@ -476,9 +476,9 @@ const AP_Param::Info Sub::var_info[] = {
 #endif
 
 #if AP_RELAY_ENABLED
-    // @Group: RELAY_
+    // @Group: RELAY
     // @Path: ../libraries/AP_Relay/AP_Relay.cpp
-    GOBJECT(relay,                  "RELAY_", AP_Relay),
+    GOBJECT(relay,                  "RELAY", AP_Relay),
 #endif
 
     // @Group: COMPASS_

Rover/Parameters.cpp

@@ -223,9 +223,9 @@ const AP_Param::Info Rover::var_info[] = {
     GOBJECT(barometer, "BARO", AP_Baro),
 
 #if AP_RELAY_ENABLED
-    // @Group: RELAY_
+    // @Group: RELAY
     // @Path: ../libraries/AP_Relay/AP_Relay.cpp
-    GOBJECT(relay,                  "RELAY_", AP_Relay),
+    GOBJECT(relay,                  "RELAY", AP_Relay),
 #endif
 
     // @Group: RCMAP_

Tools/autotest/arduplane.py

@@ -1124,9 +1124,12 @@ def TestFlaps(self):
 
     def TestRCRelay(self):
         '''Test Relay RC Channel Option'''
-        self.set_parameter("RC12_OPTION", 28) # Relay On/Off
+        self.set_parameters({
+            "RELAY1_FUNCTION": 1, # Enable relay as a standard relay pin
+            "RC12_OPTION": 28 # Relay On/Off
+        })
         self.set_rc(12, 1000)
-        self.reboot_sitl() # needed for RC12_OPTION to take effect
+        self.reboot_sitl() # needed for RC12_OPTION and RELAY1_FUNCTION to take effect
 
         off = self.get_parameter("SIM_PIN_MASK")
         if off:

Tools/autotest/default_params/rover.parm

@@ -24,8 +24,8 @@ RC1_MAX 2000
 RC1_MIN 1000
 RC3_MAX 2000
 RC3_MIN 1000
-RELAY_PIN 1
-RELAY_PIN2 2
+RELAY1_PIN 1
+RELAY2_PIN 2
 SERVO1_MIN 1000
 SERVO1_MAX 2000
 SERVO3_MAX 2000

Tools/autotest/default_params/vee-gull 005.param

@@ -456,10 +456,7 @@ RCMAP_ROLL,1
 RCMAP_THROTTLE,3
 RCMAP_YAW,4
 RELAY_DEFAULT,0
-RELAY_PIN,13
-RELAY_PIN2,-1
-RELAY_PIN3,-1
-RELAY_PIN4,-1
+RELAY1_PIN,13
 RLL_RATE_D,0.000000
 RLL_RATE_FF,0.255000
 RLL_RATE_I,0.050000

Tools/autotest/rover.py

@@ -568,6 +568,13 @@ def ServoRelayEvents(self):
         '''Test ServoRelayEvents'''
         for method in self.run_cmd, self.run_cmd_int:
             self.context_push()
+
+            self.set_parameters({
+                "RELAY1_FUNCTION": 1, # Enable relay 1 as a standard relay pin
+                "RELAY2_FUNCTION": 1, # Enable relay 2 as a standard relay pin
+            })
+            self.reboot_sitl() # Needed for relay functions to take effect
+
             method(mavutil.mavlink.MAV_CMD_DO_SET_RELAY, p1=0, p2=0)
             off = self.get_parameter("SIM_PIN_MASK")
             method(mavutil.mavlink.MAV_CMD_DO_SET_RELAY, p1=0, p2=1)
@@ -602,8 +609,14 @@ def ServoRelayEvents(self):
                 "on": 0,
             })
 
-            # add another servo:
-            self.set_parameter("RELAY_PIN6", 14)
+            # add another relay and ensure that it changes the "present field"
+            self.set_parameters({
+                "RELAY6_FUNCTION": 1, # Enable relay 6 as a standard relay pin
+                "RELAY6_PIN": 14, # Set pin number
+            })
+            self.reboot_sitl() # Needed for relay function to take effect
+            self.set_message_rate_hz("RELAY_STATUS", 10) # Need to re-request the message since reboot
+
             self.assert_received_message_field_values('RELAY_STATUS', {
                 "present": 35,
                 "on": 0,
@@ -5352,7 +5365,8 @@ def test_scripting_auxfunc(self):
         self.context_collect("STATUSTEXT")
         self.set_parameters({
             "SCR_ENABLE": 1,
-            "RELAY_PIN": 1,
+            "RELAY1_FUNCTION": 1,
+            "RELAY1_PIN": 1
         })
         self.install_example_script_context("RCIN_test.lua")
         self.reboot_sitl()

libraries/AP_Camera/AP_Camera.cpp

@@ -771,6 +771,26 @@ void AP_Camera::convert_params()
     }
 }
 
+#if AP_RELAY_ENABLED
+// Return true and the relay index if relay camera backend is selected, used for conversion to relay functions
+bool AP_Camera::get_legacy_relay_index(int8_t &index) const
+{
+    // PARAMETER_CONVERSION - Added: Dec-2023
+
+    // Note that this assumes that the camera param conversion has already been done
+    // Copter, Plane, Sub and Rover all have both relay and camera and all init relay first
+    // This will only be a issue if the relay and camera conversion were done at once, if the user skipped 4.4
+    for (uint8_t i = 0; i < AP_CAMERA_MAX_INSTANCES; i++) {
+        if ((CameraType)_params[i].type.get() == CameraType::RELAY) {
+            // Camera was hard coded to relay 0
+            index = 0;
+            return true;
+        }
+    }
+    return false;
+}
+#endif
+
 // singleton instance
 AP_Camera *AP_Camera::_singleton;
 

libraries/AP_Camera/AP_Camera.h

@@ -182,6 +182,9 @@ class AP_Camera {
     bool get_state(uint8_t instance, camera_state_t& cam_state);
 #endif
 
+    // Return true and the relay index if relay camera backend is selected, used for conversion to relay functions
+    bool get_legacy_relay_index(int8_t &index) const;
+
     // allow threads to lock against AHRS update
     HAL_Semaphore &get_semaphore() { return _rsem; }
 

libraries/AP_Camera/AP_Camera_Relay.cpp

@@ -14,11 +14,7 @@ void AP_Camera_Relay::update()
         if (ap_relay == nullptr) {
             return;
         }
-        if (_params.relay_on) {
-            ap_relay->off(0);
-        } else {
-            ap_relay->on(0);
-        }
+        ap_relay->set(AP_Relay_Params::FUNCTION::CAMERA, !_params.relay_on);
     }
 
     // call parent update
@@ -39,11 +35,7 @@ bool AP_Camera_Relay::trigger_pic()
         return false;
     }
 
-    if (_params.relay_on) {
-        ap_relay->on(0);
-    } else {
-        ap_relay->off(0);
-    }
+    ap_relay->set(AP_Relay_Params::FUNCTION::CAMERA, _params.relay_on);
 
     // set counter to move servo to off position after this many iterations of update (assumes 50hz update rate)
     trigger_counter = constrain_float(_params.trigger_duration * 50, 0, UINT16_MAX);

libraries/AP_ICEngine/AP_ICEngine.cpp

@@ -165,14 +165,8 @@ const AP_Param::GroupInfo AP_ICEngine::var_info[] = {
     AP_GROUPINFO("REDLINE_RPM", 17, AP_ICEngine, redline_rpm, 0),
 #endif
 
-#if AP_RELAY_ENABLED
-    // @Param: IGNITION_RLY
-    // @DisplayName: Ignition relay channel
-    // @Description: This is a a relay channel to use for ignition control
-    // @User: Standard
-    // @Values: 0:None,1:Relay1,2:Relay2,3:Relay3,4:Relay4,5:Relay5,6:Relay6
-    AP_GROUPINFO("IGNITION_RLY", 18, AP_ICEngine, ignition_relay, 0),
-#endif
+    // 18 was IGNITION_RLY
+
 
     AP_GROUPEND
 };
@@ -608,15 +602,14 @@ void AP_ICEngine::update_idle_governor(int8_t &min_throttle)
 void AP_ICEngine::set_ignition(bool on)
 {
     SRV_Channels::set_output_pwm(SRV_Channel::k_ignition, on? pwm_ignition_on : pwm_ignition_off);
+
 #if AP_RELAY_ENABLED
-    // optionally use a relay as well
-    if (ignition_relay > 0) {
-        auto *relay = AP::relay();
-        if (relay != nullptr) {
-            relay->set(ignition_relay-1, on);
-        }
+    AP_Relay *relay = AP::relay();
+    if (relay != nullptr) {
+        relay->set(AP_Relay_Params::FUNCTION::IGNITION, on);
     }
 #endif // AP_RELAY_ENABLED
+
 }
 
 /*
@@ -638,6 +631,19 @@ bool AP_ICEngine::allow_throttle_while_disarmed() const
         hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_DISARMED;
 }
 
+#if AP_RELAY_ENABLED
+bool AP_ICEngine::get_legacy_ignition_relay_index(int8_t &num) 
+{
+    // PARAMETER_CONVERSION - Added: Dec-2023
+    if (!enable || !AP_Param::get_param_by_index(this, 18, AP_PARAM_INT8, &num)) {
+        return false;
+    }
+    // convert to zero indexed
+    num -= 1;
+    return true;
+}
+#endif
+
 // singleton instance. Should only ever be set in the constructor.
 AP_ICEngine *AP_ICEngine::_singleton;
 namespace AP {

libraries/AP_ICEngine/AP_ICEngine.h

@@ -66,6 +66,11 @@ class AP_ICEngine {
     // do we have throttle while disarmed enabled?
     bool allow_throttle_while_disarmed(void) const;
 
+#if AP_RELAY_ENABLED
+    // Needed for param conversion from relay numbers to functions
+    bool get_legacy_ignition_relay_index(int8_t &num);
+#endif
+
     static AP_ICEngine *get_singleton() { return _singleton; }
 
 private:
@@ -136,11 +141,6 @@ class AP_ICEngine {
     AP_Float idle_slew;
 #endif
 
-#if AP_RELAY_ENABLED
-    // relay number for ignition
-    AP_Int8 ignition_relay;
-#endif
-
     // height when we enter ICE_START_HEIGHT_DELAY
     float initial_height;
 

libraries/AP_LandingGear/AP_LandingGear.cpp

@@ -2,7 +2,6 @@
 
 #if AP_LANDINGGEAR_ENABLED
 
-#include <AP_Relay/AP_Relay.h>
 #include <AP_Math/AP_Math.h>
 #include <SRV_Channel/SRV_Channel.h>
 #include <AP_HAL/AP_HAL.h>

libraries/AP_Parachute/AP_Parachute.cpp

@@ -142,7 +142,7 @@ void AP_Parachute::update()
                 // set relay
                 AP_Relay*_relay = AP::relay();
                 if (_relay != nullptr) {
-                    _relay->on(_release_type);
+                    _relay->set(AP_Relay_Params::FUNCTION::PARACHUTE, true); 
                 }
 #endif
             }
@@ -159,7 +159,7 @@ void AP_Parachute::update()
             // set relay back to zero volts
             AP_Relay*_relay = AP::relay();
             if (_relay != nullptr) {
-                _relay->off(_release_type);
+                _relay->set(AP_Relay_Params::FUNCTION::PARACHUTE, false);
             }
 #endif
         }
@@ -218,8 +218,8 @@ bool AP_Parachute::arming_checks(size_t buflen, char *buffer) const
         } else {
 #if AP_RELAY_ENABLED
             AP_Relay*_relay = AP::relay();
-            if (_relay == nullptr || !_relay->enabled(_release_type)) {
-                hal.util->snprintf(buffer, buflen, "Chute invalid relay %d", int(_release_type));
+            if (_relay == nullptr || !_relay->enabled(AP_Relay_Params::FUNCTION::PARACHUTE)) {
+                hal.util->snprintf(buffer, buflen, "Chute has no relay");
                 return false;
             }
 #else
@@ -235,6 +235,19 @@ bool AP_Parachute::arming_checks(size_t buflen, char *buffer) const
     return true;
 }
 
+#if AP_RELAY_ENABLED
+// Return the relay index that would be used for param conversion to relay functions
+bool AP_Parachute::get_legacy_relay_index(int8_t &index) const
+{
+    // PARAMETER_CONVERSION - Added: Dec-2023
+    if (!enabled() || (_release_type > AP_PARACHUTE_TRIGGER_TYPE_RELAY_3)) {
+        return false;
+    }
+    index = _release_type; 
+    return true;
+}
+#endif
+
 // singleton instance
 AP_Parachute *AP_Parachute::_singleton;
 

libraries/AP_Parachute/AP_Parachute.h

@@ -85,7 +85,10 @@ class AP_Parachute {
 
     // check settings are valid
     bool arming_checks(size_t buflen, char *buffer) const;
-
+
+    // Return the relay index that would be used for param conversion to relay functions
+    bool get_legacy_relay_index(int8_t &index) const;
+
     static const struct AP_Param::GroupInfo        var_info[];
 
     // get singleton instance