Diff: include/SHARP_IR_distance/drivertask.hpp

Revision:

1:ceee5a608e7c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/include/SHARP_IR_distance/drivertask.hpp	Thu Mar 28 07:44:42 2019 +0000
@@ -0,0 +1,53 @@
+#ifndef DRIVER_TASK_H
+#define DRIVER_TASK_H
+
+#include <TaskManager.h>
+#include <DistanceDriver.h>
+#include <filter.h>
+
+
+
+
+template<class T>
+class CDriverTask: public task::CTask
+{
+    public:
+        using FilterFunc=filter::CFilterFunction<T>;
+        CDriverTask( uint32_t f_period
+                    ,PinName f_pin
+                    ,FilterFunc& f_filter
+                    ,Serial& f_serial)
+                    :CTask(f_period)
+                    ,m_filter(f_filter)
+                    ,m_distanceDriver(f_pin)
+                    ,m_val_brut(0.0)
+                    ,m_val_filtrat(0.0)
+                    ,m_serial(f_serial)
+                    ,idx(0)
+        {
+        }
+    
+        T getDistanceFiltered(){
+            return m_val_filtrat;
+        }
+
+        T getDistanceMeasured(){
+            return m_val_brut;
+        }
+
+        
+    
+    private:
+        virtual void _run(){
+            m_val_brut=m_distanceDriver.ReadDistance();
+            m_val_filtrat=m_filter(m_val_brut);
+        }
+
+        FilterFunc&     m_filter;
+        DistanceDriver  m_distanceDriver;
+        T               m_val_brut;
+        T               m_val_filtrat;
+        Serial& m_serial;
+        int idx;
+};
+#endif