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include/SafetyStop/safetystopfunction.hpp
- Committer:
- alexpirciu
- Date:
- 2019-03-28
- Revision:
- 1:ceee5a608e7c
File content as of revision 1:ceee5a608e7c:
/** ****************************************************************************** * @file SafetyStopFunction.hpp * @author RBRO/PJ-IU * @version V1.0.0 * @date day-month-2017 * @brief This file contains the class declaration for the safety stop activation * methods. ****************************************************************************** */ /* Include guard */ #ifndef SAFETY_STOP_FUNCTION_HPP #define SAFETY_STOP_FUNCTION_HPP /* Required for the use of C_IR_DistanceSensorDriver */ #include <SHARP_IR_distance\IR_DistanceSensorDriver\ir_distancesensordriver.hpp> /** * @brief It is used for deciding whether to activate safetyu stop depending on * distance sensors reading. * */ class CSafetyStopFunction{ public: /* Construnctor */ CSafetyStopFunction(C_IR_DistanceSensorDriver& f_senLeftFront , C_IR_DistanceSensorDriver& f_senMidLeftFront , C_IR_DistanceSensorDriver& f_senCenterFront , C_IR_DistanceSensorDriver& f_senMidRightFront , C_IR_DistanceSensorDriver& f_senRightFront // , C_IR_DistanceSensorDriver& f_senLeftBach // , C_IR_DistanceSensorDriver& f_senRightBach ); /* Destructor */ ~CSafetyStopFunction(); /* Function for activating safety stop */ bool isSafetyStopActive(float f_speed, float f_angle); /* Serial callback method */ static void staticSerialCallback(void* obj,char const * a, char * b); private: /* Serial callback actions */ void serialCallback(char const * a, char * b); /* The functionality active state*/ bool m_active; /* Current car speed */ float m_speed; /* Current steering angle */ float m_angle; /* Front sensors */ C_IR_DistanceSensorDriver& m_senLeftFront; C_IR_DistanceSensorDriver& m_senMidLeftFront; C_IR_DistanceSensorDriver& m_senCenterFront; C_IR_DistanceSensorDriver& m_senMidRightFront; C_IR_DistanceSensorDriver& m_senRightFront; /* Back sensors */ // C_IR_DistanceSensorDriver& m_senLeftBach; // C_IR_DistanceSensorDriver& m_senRightBach; /* Serial communication member */ /* USED FOR DEBUG */ }; /* Include guard */ #endif