receiver.h

00001 /**
00002 @file receiver.h
00003 @brief Receiver side functions declarations.
00004 */
00005 
00006 /*
00007 Copyright 2016 Erik Perillo <erik.perillo@gmail.com>
00008 
00009 This file is part of piranha-ptc.
00010 
00011 This is free software: you can redistribute it and/or modify
00012 it under the terms of the GNU General Public License as published by
00013 the Free Software Foundation, either version 3 of the License, or
00014 (at your option) any later version.
00015 
00016 This is distributed in the hope that it will be useful,
00017 but WITHOUT ANY WARRANTY; without even the implied warranty of
00018 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
00019 See the GNU General Public License for more details.
00020 
00021 You should have received a copy of the GNU General Public License
00022 along with this. If not, see <http://www.gnu.org/licenses/>.
00023 */
00024 
00025 
00026 #ifndef __PIRANHA_RCV_PROTOCOL_H__
00027 #define __PIRANHA_RCV_PROTOCOL_H__
00028 
00029 #include "protocol.h"
00030 #include "mbed.h"
00031 #include "EthernetInterface.h"
00032 
00033 #define TEST
00034 
00035 class Receiver
00036 {
00037         
00038     #ifdef TEST
00039     public:
00040     #else
00041     protected:
00042     #endif
00043     UDPSocket sock;
00044     char message[MSG_BUF_LEN];
00045     Endpoint sender_addr;   
00046 
00047     float un_scale(uint16_t value, float min, float max);
00048     uint8_t get_header();
00049     uint16_t get_raw_val(int pos=0);
00050     float get_val(float min, float max, int pos=0);
00051     void get_vals(float min, float max, float* vals, int size);
00052 
00053     public:
00054     Receiver();
00055     Receiver(Endpoint sender_addr, const UDPSocket& sock);
00056     Receiver(Endpoint sender_addr, int sock_port=RECEIVER_PORT, int timeout=1);
00057 
00058     void set_sender_addr(const Endpoint& sender_addr);
00059     void set_socket(const UDPSocket& sock);
00060     void set_socket(int port=RECEIVER_PORT, int timeout=1);
00061     Endpoint get_sender_addr();
00062     UDPSocket get_socket();
00063 
00064     bool receive();
00065     uint8_t get_msg();
00066     float get_abs_ang_ref();
00067     float get_rel_ang_ref();
00068     float get_mag_ang_ref();
00069     float get_gnd_vel();
00070     void get_brake(float* intensity, float* period);
00071     void get_jog_vel(float* period, float* ratio);
00072     void get_pid_params(float* params);
00073     void get_mag_calib(float* params);
00074 };
00075 
00076 #endif
00077