Diff: src/Examples/Sensors/sensortask.cpp

Revision:

1:ceee5a608e7c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/src/Examples/Sensors/sensortask.cpp	Thu Mar 28 07:44:42 2019 +0000
@@ -0,0 +1,115 @@
+/**
+  ******************************************************************************
+  * @file    SensorTask.cpp
+  * @author  RBRO/PJ-IU
+  * @version V1.0.0
+  * @date    day-month-year
+  * @brief   This file contains the class implementation for the sensor task
+  *          functionality.
+  ******************************************************************************
+ */
+#include <Examples/Sensors/sensortask.hpp>
+
+namespace examples
+{
+
+    namespace sensors{
+        
+
+        /** \brief  Constructor for the CCounter class
+         *
+         *  Constructor method
+         *
+         *  @param f_period       period value
+         *  @param f_serial       reference to the serial object
+         */
+        CDISTFTest::CDISTFTest(uint32_t        f_period
+                                        ,Serial&         f_serial)
+            :task::CTask(f_period)
+            ,m_serial(f_serial)
+            ,m_tf()
+        {
+            std::array<std::array<float,1>,3> l_num({std::array<float,1>({3}),std::array<float,1>({-5.897}),std::array<float,1>({2.9})});
+            std::array<std::array<float,1>,3> l_den({std::array<float,1>({1}),std::array<float,1>({-1.949}),std::array<float,1>({0.9512})});
+            m_tf.setNum(l_num);
+            m_tf.setDen(l_den);
+        }
+
+        /** \brief  Method called each f_period
+         * 
+         *  
+         *  
+         */
+        void CDISTFTest::_run()
+        {
+            float l_input=1.0;
+            float l_output=m_tf(l_input);
+            m_serial.printf("%.4f\n",l_output);
+        }
+
+        /** \brief  Constructor for the CCounter class
+         *
+         *  Constructor method
+         *
+         *  @param f_period       period value
+         *  @param f_encoder      reference to encoder object
+         *  @param f_serial       reference to the serial object
+         */
+        CEncoderSender::CEncoderSender(uint32_t            f_period
+                                                ,encoders::IEncoderGetter&     f_encoder
+                                                ,Serial&             f_serial)
+            :task::CTask(f_period)
+            ,m_isActived(false)
+            ,m_encoder(f_encoder)
+            ,m_serial(f_serial)
+        {
+        }
+
+        /** \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
+         * 
+         */
+        void CEncoderSender::staticSerialCallback(void* obj,char const * a, char * b){
+            examples::sensors::CEncoderSender* self = static_cast<CEncoderSender*>(obj);
+            self->serialCallback(a,b);
+        }
+
+        /** \brief  Serial callback actions
+         *
+         * Serial callback method setting controller to values received
+         *
+         * @param  a                   string to read data from
+         * @param b                   string to write data to
+         * 
+         */
+        void CEncoderSender::serialCallback(char const * a, char * b){
+            int l_isActivate=0;
+            uint32_t l_res = sscanf(a,"%d",&l_isActivate);
+            if(l_res==1){
+                m_isActived=(l_isActivate>=1);
+                sprintf(b,"ack;;");
+            }else{
+                sprintf(b,"sintax error;;");
+            }
+        }
+
+        /** \brief  Method called each f_period
+         * 
+         *  
+         *  
+         */
+        void CEncoderSender::_run()
+        {
+            if(!m_isActived) return;
+            float l_filtRps=m_encoder.getSpeedRps();
+            m_serial.printf("@ENPB:%.2f;;\r\n",l_filtRps);  
+        }                        
+
+    }; // namespace sensors
+}; // namespace examples
+