Diff: VIPSSerialProtocol.h

Revision:

82:ee6eed2a51bd

Parent:

72:da2f1df6a50d

Child:

84:8094a1e64ecf

--- a/VIPSSerialProtocol.h	Wed Aug 31 15:46:41 2022 +0000
+++ b/VIPSSerialProtocol.h	Mon Nov 14 14:53:12 2022 +0000
@@ -1,97 +1,35 @@
 #ifndef __VIPSSERIALPROTOCOL_H__
 #define __VIPSSERIALPROTOCOL_H__
 
+#include "PosSource.h"
 #include "mbed.h"
 #include "position.h"
 #include "BufferedSerial.h"
 #include "LTCApp.h"
-#include "LowPassFilter.h"
-
-#define MaxBuffSize 272 //The Get Unit Info LPC command (G N) returns 266 bytes
-
 
 
 extern const char* VIPSStatusMessages[];
 struct UserSettings_s;
 
-class VIPSSerial
-{
+class VIPSSerial : public PosSource {
 
 public:
 
     VIPSSerial(const PinName Tx, const PinName Rx);
     void run(void);
-    bool setFilters(struct UserSettings_s *settings);
 
     // send all position outputs rather than just when requested.
     void sendAllUpdated(bool enable);
 
-    // send a position output for the requested time. Times are based on the global TimeSinceLastFrame timer.
-    position* sendPositionForTime(uint32_t timeValue);
-    position* getWaitingPostion()
-    {
-        position *ptr = outputPtr;
-        outputPtr=NULL;
-        return ptr;
-    }
 
+// VIPS specific Rx/Tx
     static void getCRC(void *data, int len, void *checksum);
-
-//  void setOutMask(uint32_t outputMask) {_outputMask = outputMask;};
-
-    bool EnableSmoothing(bool enabled)
-    {
-        hyperSmoothEnabled = enabled;
-        return hyperSmoothEnabled;
-    };
-    bool SmoothingEnabled(void)
-    {
-        return hyperSmoothEnabled;
-    };
-    bool ForceSmoothing(bool enabled)
-    {
-        forcedHyperSmooth = enabled;
-        hyperSmoothEnabled = enabled;
-        return hyperSmoothEnabled;
-    };
-    bool ForceSmoothingEnabled(bool enabled)
-    {
-        return forcedHyperSmooth;
-    };
-    int GetSmoothLevel(void)
-    {
-        return SmoothBy;
-    };
-    bool SetSmoothLevel (const int newSmooth)
-    {
-        if (newSmooth == SmoothBy) return false;
-        SmoothBy = newSmooth;
-        SmoothRunning = false;
-        return true;
-    };
-    void EnableBypass(bool enable)
-    {
-        BypassMode = enable;
-    };
-    void bypassTx(char byte);
     void sendQueued(void);
-    bool EnableDirectTX(bool enabled)
-    {
-        directTx = enabled;
-        return directTx;
-    };
     void sendDirectTX(unsigned char* data, int dataLen);
     int getWaitingBuffer(unsigned char **TXBuffer, int *bytesToSend);
     void sendQuiet(void);
 
 private:
-
-    struct posAndTime_s {
-        uint32_t time;
-        position pos;
-    };
-
-    void smoothOutputPacket(position *posPtr);
     void onSerialRx(void);
     void processRxMessage();
     bool checkCRC(unsigned char* data);
@@ -104,50 +42,14 @@
     void parsePostionInput_mocap();
     void onTxTimeout();
     bool checkNewPacketRC(unsigned char* data);
-    RawSerial _port;
-    unsigned char messageInBuffer[128];
-    unsigned char messageOutBuffer[16];
-    unsigned char TXBuffer1[MaxBuffSize];
-    unsigned char TXBuffer2[MaxBuffSize];
-    unsigned char *txBuf;
-    int waitingBytes;
-#define posHistoryLen 3
-    struct posAndTime_s lastPositions[posHistoryLen];
-    int nextPosition;
-    struct posAndTime_s lastPos; // the most recent position received
-    struct posAndTime_s prevPos; // the most last but one position received
-
-    position outputPosition;
-    position *outputPtr;
 
     int messagePrt;
     int messageLength;
     int statusMessage;
-    bool enableAllUpdates;
     bool newFormatMsg;
-    bool hyperSmoothEnabled;
-    bool forcedHyperSmooth;
-    bool directTx;
-    uint32_t pointCount;
-    uint32_t _outputMask;
 
     int queueLen;
-    int SmoothBy;
-    // total as a float we would start to see rounding errors at valuses of ~20m
-    double XSmoothTotal;
-    double YSmoothTotal;
-    double ZSmoothTotal;
-    bool SmoothRunning;
-    bool BypassMode;
-    LowPassFilter yFilter;
-    LowPassFilter xFilter;
-    LowPassFilter zFilter;
-    LowPassFilter rollFilter;
-    LowPassFilter pitchFilter;
-    LowPassFilter yawFilter;
     
-    Timeout TxTimeout;
-    bool TransmitFinished;
     //VIPSSerial* self;
 };