Revision 0:a75c834f4441, committed 2021-05-07

Comitter:

lmarketin

Date:

Fri May 07 13:50:33 2021 +0000

Commit message:

MonitoringExecutor

Changed in this revision

diff -r 000000000000 -r a75c834f4441 monitoringExecutor.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/monitoringExecutor.cpp	Fri May 07 13:50:33 2021 +0000
@@ -0,0 +1,116 @@
+#include <iterator>
+#include "monitoringExecutor.h"
+#include "circleMonitoringStrategy.h"
+#include "squareMonitoringStrategy.h"
+#include "monitoringContext.h"
+
+
+MonitoringExecutor::MonitoringExecutor(Configuration* config, Serial* pc, SRF05* ranger, PwmOut* rangerServo, PwmOut* fan, PwmOut* fanServo, DigitalOut* greenLed, DigitalOut* redLed):
+        m_config(config), m_pc(pc), m_ranger(ranger), m_rangerServo(rangerServo), m_fan(fan), m_fanServo(fanServo), m_greenLed(greenLed), m_redLed(redLed)
+{
+}
+
+MonitoringExecutor::~MonitoringExecutor()
+{
+}
+
+void MonitoringExecutor::startMonitoring()
+{
+    MonitoringContext* monitoringContext;
+    MonitoringStrategyIf* strategy;
+    ObjectPosition* objPos = new ObjectPosition(0,0);
+    
+    m_moitoringDurationTimer.start();
+    m_greenLed->write(1);
+    m_redLed->write(0);
+    
+    if(m_config->getMode() == 0) { //circle
+            strategy = new CircleMonitoringStrategy(m_config);
+        } else if(m_config->getMode() == 1) { //squere
+            strategy = new SquereMonitoringStrategy(m_config);
+        }
+    monitoringContext = new MonitoringContext(strategy);
+
+    while(checkMonitoringDurationTimer()) {
+        m_distancesMap.clear();
+        m_pc->printf("Monitoring start\n\r");
+        // m_pc->printf("----Map size: %d\n\r", m_distancesMap.size()); 
+        findObjects();
+        //m_pc->printf("----TIMER: %f\n\r", m_moitoringDurationTimer.read());
+        if(monitoringContext->executePresenceCheck(m_distancesMap, objPos)) {
+            //m_pc->printf("INFO: Object founded into monitoring area, on position -> distance:%f, angle:%f\n\r", objPos->getDistance(), objPos->getAngle());
+            m_greenLed->write(0);
+            m_redLed->write(1);
+            activateFan(objPos);
+            delete[] objPos;
+        }
+        else {
+            m_greenLed->write(1);
+            m_redLed->write(0);
+            }
+    }
+    m_moitoringDurationTimer.stop();
+    m_pc->printf("Monitoring timer exceeded. \n\r");
+    delete[] monitoringContext;
+    delete[] strategy;
+    m_greenLed->write(0);
+    m_redLed->write(0);
+}
+
+void MonitoringExecutor::findObjects()
+{
+    m_pc->printf("Find objects. \n\r");
+    for (int i = 1500; i <= 2500; i+=50) {
+        m_rangerServo->pulsewidth_us(i);
+        wait(0.2);
+        float angle = toDeeg(i-1500);
+        float dis = m_ranger->read();//-
+        m_distancesMap.insert(std::pair<float, float>(angle, dis));//for each object found set the corresponding angle and distance
+        m_pc->printf("Angle = %1.f ; Distance = %.1f; xxx: %d\n\r", toDeeg(i-1500), m_ranger->read(), i);
+    }
+    m_rangerServo->pulsewidth_us(500);
+}
+
+void MonitoringExecutor::activateFan(ObjectPosition* objPos)
+{
+    float angle;
+    float dist;
+    Timer fanDuration;
+    ObjectPosition fanPos(0, m_config->getFanYCoordinate());
+    dist = fanPos.getDistanceFromOtherObj(objPos);
+    wait(2);
+    m_pc->printf("Activate Fan.\n\r");
+    
+    if(objPos->getYCoordinate() > fanPos.getYCoordinate()) {
+        angle = 90 + (acos(objPos->getXCoordinate() / dist) *180/PI);
+    } else {
+        angle = 90 - (acos(objPos->getXCoordinate() / dist)*180/PI);
+    }
+    
+    m_fanServo->pulsewidth_us(500 + (2000 * (angle / 180)));//-
+    //m_pc->printf("---angle_pwm: %f,  angle: %f, dist_from_fan: %f \n\r", 500 + (2000 * (angle / 180)), angle, dist);//-
+    
+    wait(2);
+    m_fanWorkingDurationTimer.start();
+    m_fan->pulsewidth_us((dist/m_config->getDistance()) * 20000);//fan rotation speed depend on distance between fan and object//-
+    //m_pc->printf("---fan = %f\n\r", (dist/m_config->getDistance()) * 10000);
+    while(checkFanWorkingDurationTimer()) {
+        }
+    m_fan->pulsewidth_us(0);
+    m_fanServo->pulsewidth_us(500);
+    m_fanWorkingDurationTimer.stop();
+    m_fanWorkingDurationTimer.reset();
+}
+
+float MonitoringExecutor::toDeeg(int angle)
+{
+    return angle/50*4.5;//4.5 should be seted by config value
+}
+
+bool MonitoringExecutor::checkMonitoringDurationTimer(){
+    return m_config->getMonitoringDuration() > m_moitoringDurationTimer.read();
+}
+
+bool MonitoringExecutor::checkFanWorkingDurationTimer(){
+    return m_config->getFanWorkingDuration() > m_fanWorkingDurationTimer.read();
+}
\ No newline at end of file

diff -r 000000000000 -r a75c834f4441 monitoringExecutor.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/monitoringExecutor.h	Fri May 07 13:50:33 2021 +0000
@@ -0,0 +1,62 @@
+#ifndef MONITORINGEXECUTOR_H
+#define MONITORINGEXECUTOR_H
+
+#include <map>
+#include "mbed.h"
+#include "SRF05.h"
+#include "configuration.h"
+#include "objectPosition.h"
+
+
+using namespace std;
+
+/*
+* This class is used to execute area monitoring operation
+*/
+class MonitoringExecutor
+{
+public:
+    /**Constructor for MonitoringExecutor*/
+    MonitoringExecutor(Configuration* config, Serial* pc, SRF05* ranger, PwmOut* rangerServo, PwmOut* fan, PwmOut* fanServo, DigitalOut* greenLed, DigitalOut* redLed);
+    
+    /**Destructor for Monitoring executor*/ 
+    ~MonitoringExecutor();
+    
+    /**Start and execute monitoring process*/
+    void startMonitoring();
+
+private :
+    /**Used to monitor area. Saves the distance and position of all found objects*/
+    void findObjects();
+    
+    /**Directs the fan in the direction of the nearest object in restricted area and activates it.
+      *The operating time of the fan is determined by the configuration parameter and the rotation speed of the object distance.
+      */
+    void activateFan(ObjectPosition* objPos);
+    
+    /**Converts the servo motor positioning parameter into degrees according to the value set by the configuration*/
+    float toDeeg(int angle);
+    
+    /**Checks if the monitoring duration timer has expired*/
+    bool checkMonitoringDurationTimer();
+    
+    /**Checks if the fan working duration timer has expired*/
+    bool checkFanWorkingDurationTimer();
+
+    Configuration* m_config;
+    
+    map<float, float> m_distancesMap;// <angle, distance>
+    Timer m_moitoringDurationTimer;
+    Timer m_fanWorkingDurationTimer;
+
+    const static double PI  =3.141592653589793238463;
+    
+    Serial* m_pc;
+    SRF05* m_ranger;
+    PwmOut* m_rangerServo;
+    PwmOut* m_fan;
+    PwmOut* m_fanServo ;
+    DigitalOut* m_greenLed ;
+    DigitalOut* m_redLed ;
+};
+#endif