Diff: include/Examples/Sensors/sensorpublisher.inl

Revision:

1:ceee5a608e7c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/include/Examples/Sensors/sensorpublisher.inl	Thu Mar 28 07:44:42 2019 +0000
@@ -0,0 +1,78 @@
+namespace examples{
+    namespace sensors{
+        /** \brief  Constructor for the CEncoderFilter class
+         *
+         *  Constructor method
+         *
+         *  @param f_period       period value 
+         *  @param f_sensors      sensor array 
+         *  @param f_serial       reference to the serial object
+         */
+        template <class C_Sensor,uint Nr_Senrsor> 
+        ProximityPublisher<C_Sensor,Nr_Senrsor>::ProximityPublisher(uint32_t        f_period
+                                                                ,SensorArrayT    f_sensors
+                                                                ,Serial&         f_serial)
+            :CTask(f_period)
+            ,m_sensors(f_sensors)
+            ,m_serial(f_serial)
+            ,m_isActivate(false)
+        {
+        }
+
+        /** \brief  Serial callback method
+         *
+         * Serial callback attaching serial callback to controller object
+         *
+         * @param  obj                 PID controller object
+         * @param  a                   string to read data from
+         * @param b                   string to write data to
+         * 
+         */
+        template <class C_Sensor,uint Nr_Senrsor> 
+        void ProximityPublisher<C_Sensor,Nr_Senrsor>::staticSerialCallback(void* obj,char const * a, char * b)
+        {
+            ProximityPublisher* self = static_cast<ProximityPublisher*>(obj);
+            self->serialCallback(a,b);
+        }
+
+        /** \brief  Serial callback actions 
+         *
+         * Serial callback
+         *
+         * @param  a                   string to read data from
+         * @param b                   string to write data to
+         * 
+         */
+        template <class C_Sensor,uint Nr_Senrsor> 
+        void ProximityPublisher<C_Sensor,Nr_Senrsor>::serialCallback(char const * a, char * b){
+            int l_isActivate=0;
+            uint32_t l_res = sscanf(a,"%d",&l_isActivate);
+            if(l_res==1){
+                m_isActivate=(l_isActivate>=1);
+                sprintf(b,"ack;;");
+            }else{
+                sprintf(b,"sintax error;;");
+            }
+        }
+
+        /** \brief  Method called each f_period
+         * 
+         *  
+         *  
+         */
+        template <class C_Sensor,uint Nr_Senrsor> 
+        void ProximityPublisher<C_Sensor,Nr_Senrsor>::_run(){
+            if(!m_isActivate) return;
+            char l_buf[100];
+            sprintf(l_buf,"@DSPB:");
+            for(uint8_t i=0;i<Nr_Senrsor;++i){
+                
+                sprintf(l_buf,"%s%2.2f;",l_buf,m_sensors[i]->getValue());
+            }
+            sprintf(l_buf,"%s;\n\r",l_buf);
+            m_serial.printf("%s",l_buf);
+
+        }
+    }; // namespace sensors
+}; // namespace examples
+