sensortask.hpp

00001 /**
00002   ******************************************************************************
00003   * @file    SensorTask.hpp
00004   * @author  RBRO/PJ-IU
00005   * @version V1.0.0
00006   * @date    day-month-year
00007   * @brief   This file contains the class declaration for the sensor task
00008   *          functionality.
00009   ******************************************************************************
00010  */
00011 
00012 /* Include guard */
00013 #ifndef SENSOR_TASK_HPP
00014 #define SENSOR_TASK_HPP
00015 
00016 /* Standard C library for basic mathematical operations */
00017 #include <math.h>
00018 #include<TaskManager/taskmanager.hpp>
00019 #include <Drivers/vnh.hpp>
00020 #include <SerialMonitor/serialmonitor.hpp>
00021 #include <Controllers/controller.hpp>
00022 #include <SystemModels/systemmodels.hpp>
00023 
00024 #include <Encoders/encoderinterface.hpp >
00025 
00026 namespace examples
00027 {
00028 
00029     namespace sensors{
00030 
00031     
00032         //!  CDISTFTest class. 
00033         /*!
00034         * It inherits class task::CTask. 
00035         * It is used for testing distance sensors operation.
00036         */
00037         class CDISTFTest:public task::CTask
00038         {
00039             public:
00040                 /* Constructor */
00041                 CDISTFTest(uint32_t        f_period
00042                         ,Serial&         f_serial);
00043                 
00044             private:
00045                 /* Run method */
00046                 void _run();
00047                 
00048                 /* Reference to serial object */
00049                 Serial&                                                       m_serial;
00050                 /* Transfer function */
00051                 systemmodels::lti::siso::CDiscreteTransferFucntion<float,3,3>  m_tf;
00052         };
00053 
00054         //!  CEncoderSender class. 
00055         /*!
00056         * It inherits class task::CTask. 
00057         * It is used for sending acquired data.
00058         */
00059         class CEncoderSender:public task::CTask
00060         {
00061             public:
00062                 /* Constructor */
00063                 CEncoderSender(uint32_t            f_period
00064                             ,encoders::IEncoderGetter&    f_encoder
00065                             ,Serial&            f_serial);
00066                 /* Serial callback */
00067                 static void staticSerialCallback(void* obj,char const * a, char * b);
00068             private:
00069                 /* Serial callback implementation */
00070                 void serialCallback(char const * a, char * b);
00071                 /* Run method */
00072                 void _run();
00073 
00074                 /* Active flag */
00075                 bool                m_isActived;
00076                 /*  Encoder value getter */
00077                 encoders::IEncoderGetter&     m_encoder;
00078                 /* Serial communication member*/
00079                 Serial&             m_serial;
00080         };
00081     }; // namespace sensors
00082 }; // namespace examples
00083 
00084 
00085 #endif