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Dependencies:   mbed mbed-rtos MotionSensor EthernetInterface

Protocol/receiver.h@15:69d9e85382de, 2016-05-01 (annotated)

Committer:
drelliak
Date:
Sun May 01 23:01:58 2016 +0000
Revision:
15:69d9e85382de
Controller Almost complete

Who changed what in which revision?

UserRevisionLine numberNew contents of line
drelliak 15:69d9e85382de 1 /**
drelliak 15:69d9e85382de 2 @file receiver.h
drelliak 15:69d9e85382de 3 @brief Receiver side functions declarations.
drelliak 15:69d9e85382de 4 */
drelliak 15:69d9e85382de 5
drelliak 15:69d9e85382de 6 /*
drelliak 15:69d9e85382de 7 Copyright 2016 Erik Perillo <erik.perillo@gmail.com>
drelliak 15:69d9e85382de 8
drelliak 15:69d9e85382de 9 This file is part of piranha-ptc.
drelliak 15:69d9e85382de 10
drelliak 15:69d9e85382de 11 This is free software: you can redistribute it and/or modify
drelliak 15:69d9e85382de 12 it under the terms of the GNU General Public License as published by
drelliak 15:69d9e85382de 13 the Free Software Foundation, either version 3 of the License, or
drelliak 15:69d9e85382de 14 (at your option) any later version.
drelliak 15:69d9e85382de 15
drelliak 15:69d9e85382de 16 This is distributed in the hope that it will be useful,
drelliak 15:69d9e85382de 17 but WITHOUT ANY WARRANTY; without even the implied warranty of
drelliak 15:69d9e85382de 18 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
drelliak 15:69d9e85382de 19 See the GNU General Public License for more details.
drelliak 15:69d9e85382de 20
drelliak 15:69d9e85382de 21 You should have received a copy of the GNU General Public License
drelliak 15:69d9e85382de 22 along with this. If not, see <http://www.gnu.org/licenses/>.
drelliak 15:69d9e85382de 23 */
drelliak 15:69d9e85382de 24
drelliak 15:69d9e85382de 25
drelliak 15:69d9e85382de 26 #ifndef __PIRANHA_RCV_PROTOCOL_H__
drelliak 15:69d9e85382de 27 #define __PIRANHA_RCV_PROTOCOL_H__
drelliak 15:69d9e85382de 28
drelliak 15:69d9e85382de 29 #include "protocol.h"
drelliak 15:69d9e85382de 30 #include "mbed.h"
drelliak 15:69d9e85382de 31 #include "EthernetInterface.h"
drelliak 15:69d9e85382de 32
drelliak 15:69d9e85382de 33 class Receiver
drelliak 15:69d9e85382de 34 {
drelliak 15:69d9e85382de 35 //protected:
drelliak 15:69d9e85382de 36 public:
drelliak 15:69d9e85382de 37 UDPSocket sock;
drelliak 15:69d9e85382de 38 char message[MSG_BUF_LEN];
drelliak 15:69d9e85382de 39 Endpoint sender_addr;
drelliak 15:69d9e85382de 40
drelliak 15:69d9e85382de 41 float un_scale(uint16_t value, float min, float max);
drelliak 15:69d9e85382de 42 uint8_t get_header();
drelliak 15:69d9e85382de 43 uint16_t get_raw_val(int pos=0);
drelliak 15:69d9e85382de 44 float get_val(float min, float max, int pos=0);
drelliak 15:69d9e85382de 45 void get_vals(float min, float max, float* vals, int size);
drelliak 15:69d9e85382de 46
drelliak 15:69d9e85382de 47 public:
drelliak 15:69d9e85382de 48 Receiver();
drelliak 15:69d9e85382de 49 Receiver(Endpoint sender_addr, const UDPSocket& sock);
drelliak 15:69d9e85382de 50 Receiver(Endpoint sender_addr, int sock_port=RECEIVER_PORT, int timeout=1);
drelliak 15:69d9e85382de 51
drelliak 15:69d9e85382de 52 void set_sender_addr(const Endpoint& sender_addr);
drelliak 15:69d9e85382de 53 void set_socket(const UDPSocket& sock);
drelliak 15:69d9e85382de 54 void set_socket(int port=RECEIVER_PORT, int timeout=1);
drelliak 15:69d9e85382de 55 Endpoint get_sender_addr();
drelliak 15:69d9e85382de 56 UDPSocket get_socket();
drelliak 15:69d9e85382de 57
drelliak 15:69d9e85382de 58 bool receive();
drelliak 15:69d9e85382de 59 uint8_t get_msg();
drelliak 15:69d9e85382de 60 float get_ang_ref();
drelliak 15:69d9e85382de 61 float get_gnd_vel();
drelliak 15:69d9e85382de 62 void get_jog_vel(float* period, float* ratio);
drelliak 15:69d9e85382de 63 void get_pid_params(float* params);
drelliak 15:69d9e85382de 64 };
drelliak 15:69d9e85382de 65
drelliak 15:69d9e85382de 66 #endif
drelliak 15:69d9e85382de 67