Diff: Protocol/receiver.cpp

Revision:

15:69d9e85382de

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Protocol/receiver.cpp	Sun May 01 23:01:58 2016 +0000
@@ -0,0 +1,138 @@
+/*
+Copyright 2016 Erik Perillo <erik.perillo@gmail.com>
+
+This file is part of piranha-ptc.
+
+This is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+This is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+See the GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+
+#include "receiver.h"
+#include "EthernetInterface.h"
+
+float Receiver::un_scale(uint16_t value, float min, float max)
+{
+	return ((float)value)/((1 << 16) - 1)*(max - min) + min;
+}
+
+uint8_t Receiver::get_header()
+{
+	return this->message[MSG_HEADER_IDX];
+}
+
+uint16_t Receiver::get_raw_val(int pos)
+{
+	uint16_t value = 0;
+
+	value |= this->message[MSG_VALS_START_IDX + 2*pos];
+	value |= this->message[MSG_VALS_START_IDX + 2*pos + 1] << 8;
+
+	return value;
+}
+
+float Receiver::get_val(float min, float max, int pos)
+{
+	uint16_t raw_val;
+
+	raw_val = this->get_raw_val(pos);
+	return this->un_scale(raw_val, min, max);
+}
+
+void Receiver::get_vals(float min, float max, float* vals, int size)
+{
+	uint16_t raw_val;
+
+	for(int i=0; i<size; i++)
+	{
+		raw_val = this->get_raw_val(i);
+		vals[i] = this->un_scale(raw_val, min, max);
+	}
+}
+
+bool Receiver::receive()
+{
+	return this->sock.receiveFrom(this->sender_addr, this->message, 
+		sizeof(this->message)) > 0;
+}
+
+Receiver::Receiver()
+{
+	;
+}
+
+Receiver::Receiver(Endpoint sender_addr, const UDPSocket& sock):
+	sock(sock), sender_addr(sender_addr)
+{
+	;
+}
+
+Receiver::Receiver(Endpoint sender_addr, int sock_port, int timeout):
+	sender_addr(sender_addr)
+{
+	this->sock.bind(sock_port);
+	this->sock.set_blocking(timeout < 0, timeout);
+}
+
+void Receiver::set_sender_addr(const Endpoint& sender_addr)
+{
+	this->sender_addr = sender_addr;
+}
+
+void Receiver::set_socket(const UDPSocket& sock)
+{
+	this->sock = sock;
+}
+
+void Receiver::set_socket(int port, int timeout)
+{
+	this->sock.bind(port);
+	this->sock.set_blocking(timeout < 0, timeout);
+}
+
+Endpoint Receiver::get_sender_addr()
+{
+	return this->sender_addr;
+}
+
+UDPSocket Receiver::get_socket()
+{
+	return this->sock;
+}
+
+uint8_t Receiver::get_msg()
+{
+	return this->message[MSG_HEADER_IDX];
+}
+
+float Receiver::get_ang_ref()
+{
+	return this->get_val(ANG_REF_MIN, ANG_REF_MAX);
+}
+
+float Receiver::get_gnd_vel()
+{
+	return this->get_val(GND_VEL_MIN, GND_VEL_MAX);
+}
+
+void Receiver::get_jog_vel(float* period, float* ratio)
+{
+	*period = this->get_val(JOG_VEL_PERIOD_MIN, JOG_VEL_PERIOD_MAX);
+	*ratio = this->get_val(JOG_VEL_RATIO_MIN, JOG_VEL_RATIO_MAX, 1);
+}
+
+void Receiver::get_pid_params(float* params)
+{
+	this->get_vals(PID_PARAMS_MIN, PID_PARAMS_MAX, params, 4);
+}
+