Diff: Protocol/receiver.cpp

Revision:

18:c1cd11db47ed

Parent:

17:34fa73413afb

Child:

19:c709c5a9fb08

--- a/Protocol/receiver.cpp	Mon May 02 00:58:20 2016 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,143 +0,0 @@
-/*
-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);
-}
-
-void Receiver::get_mag_calib(float* params)
-{
-	this->get_vals(MAG_CALIB_MIN, MAG_CALIB_MAX, params, 4);
-}
-