Revision 0:8b0edcbd3b87, committed 2016-03-31

Comitter:

inst

Date:

Thu Mar 31 04:43:01 2016 +0000

Child:

1:0970a7b78c1d

Commit message:

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SimpleMapSerialization.lib	Thu Mar 31 04:43:01 2016 +0000
@@ -0,0 +1,1 @@
+SimpleMapSerialization#f398994b70f5

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/communication.cpp	Thu Mar 31 04:43:01 2016 +0000
@@ -0,0 +1,70 @@
+#include "communication.hpp"
+#include "moving_object.hpp"
+#include "serial_communication.hpp"
+
+#include "mbed_stl.hpp"
+
+
+#include "mbed.h"
+
+communication* communication::instance_ = NULL;
+
+node_system::moving_object::CONTROL_MODE communication::get_mode() const {
+    return node_system::moving_object::MANUAL_MODE;
+}
+
+communication::vector2f communication::get_velocity() const {
+    uint32_t iv[] = {
+        serial_communication::instance()->get_data("stkLX"),
+        serial_communication::instance()->get_data("stkLY")
+    };
+    
+    // 受信データは [0, 65535] の範囲であるので [-1, 1] に変換する
+    int offset = 32767;
+    
+    if ((iv[0] == offset) && (iv[1] == offset)) {
+        return vector2f();
+    }
+    
+    vector2f v;
+    
+    for (uint32_t i = 0; i < 2; ++i) {
+        v[i] = iv[i];
+        v[i] -= offset;
+        v[i] /= offset;
+        /*
+        switch(iv[i]) {
+            case 0:
+                v[i] = 0.0f;
+                break;
+                
+            case 1:
+                v[i] = 1.0f;
+                
+                break;
+                
+            case 2:
+                v[i] = -1.0f;
+                break;
+        }
+        */
+    }
+    
+    if (v.length() > 1.0f) {
+        return ;
+    }
+    
+    /*
+    vector2f velocity = v.unit();
+    return velocity;
+    */
+}
+float communication::get_angular_velocity_rad_per_sec() const {
+    return 0.0f;
+}
+communication::vector2f communication::get_target_position_mm() const {
+    return vector2f();
+}
+float communication::get_target_heading_rad() const {
+    return 0.0f;
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/communication.hpp	Thu Mar 31 04:43:01 2016 +0000
@@ -0,0 +1,36 @@
+#ifndef INCLUDED_NODE_SYSTEM_COMMUNICATION_H
+#define INCLUDED_NODE_SYSTEM_COMMUNICATION_H
+
+#include "moving_object.hpp"
+#include "mbed_stl.hpp"
+
+class communication {
+public:
+    typedef mbed_stl::linear_algebra::vector2f vector2f;
+
+    static communication* instance() {
+        if (instance_ == NULL) {
+            instance_ = new communication;
+        }
+        return  instance_;
+    }
+    static void destory() {
+        delete instance_;
+    }
+    node_system::moving_object::CONTROL_MODE get_mode() const;
+    vector2f get_velocity() const;
+    float get_angular_velocity_rad_per_sec() const;
+    vector2f get_target_position_mm() const;
+    float get_target_heading_rad() const;
+    
+private:
+    communication() {}
+    ~communication() {}
+    // singletonにつき禁止のため以下の二つの実装は無し
+    void operator=(const communication& s);
+    communication(const communication& s);
+    
+    static communication* instance_;
+};
+
+#endif

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/serial_communication.lib	Thu Mar 31 04:43:01 2016 +0000
@@ -0,0 +1,1 @@
+serial_communication#964bbeb0a1d3