distancesensors.hpp

00001 /**
00002   ******************************************************************************
00003   * @file    DistanceSensors.hpp
00004   * @author  RBRO/PJ-IU
00005   * @version V1.0.0
00006   * @date    08-January-2018
00007   * @brief   This file contains the class definition for the distance sensors read
00008   *          methods.
00009   ******************************************************************************
00010  */
00011 
00012 /* Include guard */
00013 #ifndef DISTANCESENSORS_HPP
00014 #define DISTANCESENSORS_HPP
00015 
00016 #include <mbed.h>
00017 #include <array>
00018 #include <string>
00019 #include<TaskManager/taskmanager.hpp>
00020 #include <SHARP_IR_distance\DistanceSensors\distancesensors.hpp>
00021 using namespace std;
00022 
00023 /**
00024  * @brief It is used for reading the attached distance sensors.
00025  * 
00026  */
00027 template<class T>
00028 class CDistanceSensors: public task::CTask
00029 {
00030 private:
00031     /* The sensors list */
00032     T                               m_sensor_list;
00033     /* Index of current sensor */
00034     uint8_t                         m_index;
00035     /* The maximum number of sensors that are used */
00036     const uint8_t                   m_N;
00037     /* Flags for enabloing/disabling timeout */
00038     Timeout                         m_disableTimeOut;
00039     Timeout                         m_enableTimeOut;
00040     /* Message that contains the read values */
00041     string                          m_message;
00042 
00043 public:
00044     /* Construnctor */
00045     CDistanceSensors(uint32_t f_period,
00046                      float f_baseTick,
00047                      T&  f_sensor_list);
00048     /* Destructor */
00049     ~CDistanceSensors();
00050     /* Callback for reading sensor value */
00051     void ReadCallback(void);
00052     /* Run method */
00053     void _run(void);
00054 };
00055 
00056 #include "DistanceSensors.inl"
00057 
00058 /* Include guard */
00059 #endif