TrekkingPhoenix / Mbed 2 deprecated Trekking_Controller_refac

Refactoring Ironcup 2020

Dependencies:   mbed mbed-rtos MotionSensor EthernetInterface

Protocol/Protocol/receiver.h@0:8f5db5085df7, 2020-09-21 (annotated)

Committer:
starling
Date:
Mon Sep 21 21:42:07 2020 +0000
Revision:
0:8f5db5085df7
12 mar 2020

Who changed what in which revision?

UserRevisionLine numberNew contents of line
starling 0:8f5db5085df7 1 /**
starling 0:8f5db5085df7 2 @file receiver.h
starling 0:8f5db5085df7 3 @brief Receiver side functions declarations.
starling 0:8f5db5085df7 4 */
starling 0:8f5db5085df7 5
starling 0:8f5db5085df7 6 /*
starling 0:8f5db5085df7 7 Copyright 2016 Erik Perillo <erik.perillo@gmail.com>
starling 0:8f5db5085df7 8
starling 0:8f5db5085df7 9 This file is part of piranha-ptc.
starling 0:8f5db5085df7 10
starling 0:8f5db5085df7 11 This is free software: you can redistribute it and/or modify
starling 0:8f5db5085df7 12 it under the terms of the GNU General Public License as published by
starling 0:8f5db5085df7 13 the Free Software Foundation, either version 3 of the License, or
starling 0:8f5db5085df7 14 (at your option) any later version.
starling 0:8f5db5085df7 15
starling 0:8f5db5085df7 16 This is distributed in the hope that it will be useful,
starling 0:8f5db5085df7 17 but WITHOUT ANY WARRANTY; without even the implied warranty of
starling 0:8f5db5085df7 18 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
starling 0:8f5db5085df7 19 See the GNU General Public License for more details.
starling 0:8f5db5085df7 20
starling 0:8f5db5085df7 21 You should have received a copy of the GNU General Public License
starling 0:8f5db5085df7 22 along with this. If not, see <http://www.gnu.org/licenses/>.
starling 0:8f5db5085df7 23 */
starling 0:8f5db5085df7 24
starling 0:8f5db5085df7 25
starling 0:8f5db5085df7 26 #ifndef __PIRANHA_RCV_PROTOCOL_H__
starling 0:8f5db5085df7 27 #define __PIRANHA_RCV_PROTOCOL_H__
starling 0:8f5db5085df7 28
starling 0:8f5db5085df7 29 #include "protocol.h"
starling 0:8f5db5085df7 30 #include "mbed.h"
starling 0:8f5db5085df7 31 #include "EthernetInterface.h"
starling 0:8f5db5085df7 32
starling 0:8f5db5085df7 33 #define TEST
starling 0:8f5db5085df7 34
starling 0:8f5db5085df7 35 class Receiver
starling 0:8f5db5085df7 36 {
starling 0:8f5db5085df7 37
starling 0:8f5db5085df7 38 #ifdef TEST
starling 0:8f5db5085df7 39 public:
starling 0:8f5db5085df7 40 #else
starling 0:8f5db5085df7 41 protected:
starling 0:8f5db5085df7 42 #endif
starling 0:8f5db5085df7 43 UDPSocket sock;
starling 0:8f5db5085df7 44 char message[MSG_BUF_LEN];
starling 0:8f5db5085df7 45 Endpoint sender_addr;
starling 0:8f5db5085df7 46
starling 0:8f5db5085df7 47 float un_scale(uint16_t value, float min, float max);
starling 0:8f5db5085df7 48 uint8_t get_header();
starling 0:8f5db5085df7 49 uint16_t get_raw_val(int pos=0);
starling 0:8f5db5085df7 50 float get_val(float min, float max, int pos=0);
starling 0:8f5db5085df7 51 void get_vals(float min, float max, float* vals, int size);
starling 0:8f5db5085df7 52
starling 0:8f5db5085df7 53 public:
starling 0:8f5db5085df7 54 Receiver();
starling 0:8f5db5085df7 55 Receiver(Endpoint sender_addr, const UDPSocket& sock);
starling 0:8f5db5085df7 56 Receiver(Endpoint sender_addr, int sock_port=RECEIVER_PORT, int timeout=1);
starling 0:8f5db5085df7 57
starling 0:8f5db5085df7 58 void set_sender_addr(const Endpoint& sender_addr);
starling 0:8f5db5085df7 59 void set_socket(const UDPSocket& sock);
starling 0:8f5db5085df7 60 void set_socket(int port=RECEIVER_PORT, int timeout=1);
starling 0:8f5db5085df7 61 Endpoint get_sender_addr();
starling 0:8f5db5085df7 62 UDPSocket get_socket();
starling 0:8f5db5085df7 63
starling 0:8f5db5085df7 64 bool receive();
starling 0:8f5db5085df7 65 uint8_t get_msg();
starling 0:8f5db5085df7 66 float get_abs_ang_ref();
starling 0:8f5db5085df7 67 float get_rel_ang_ref();
starling 0:8f5db5085df7 68 float get_mag_ang_ref();
starling 0:8f5db5085df7 69 float get_gnd_vel();
starling 0:8f5db5085df7 70 void get_brake(float* intensity, float* period);
starling 0:8f5db5085df7 71 void get_jog_vel(float* period, float* ratio);
starling 0:8f5db5085df7 72 void get_pid_params(float* params);
starling 0:8f5db5085df7 73 void get_mag_calib(float* params);
starling 0:8f5db5085df7 74 };
starling 0:8f5db5085df7 75
starling 0:8f5db5085df7 76 #endif
starling 0:8f5db5085df7 77