Kyx Stark / Manche_a_air

gestion de servomoteur individuelement, et du message ROS associe

Dependents:   stm32_actuator_gobeur

Manche_a_air.h@5:04d111f63a0f, 2021-07-08 (annotated)

Committer:
kyxstark
Date:
Thu Jul 08 22:46:14 2021 +0000
Revision:
5:04d111f63a0f
Parent:
4:de7ca80dbe4b 
peut de modif

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kyxstark 3:40988c59e571 1 #ifndef _ROS_stm32_manche_a_air_Manche_a_air_h
kyxstark 3:40988c59e571 2 #define _ROS_stm32_manche_a_air_Manche_a_air_h
kyxstark 3:40988c59e571 3
kyxstark 3:40988c59e571 4 #include <stdint.h>
kyxstark 3:40988c59e571 5 #include <string.h>
kyxstark 3:40988c59e571 6 #include <stdlib.h>
kyxstark 3:40988c59e571 7 #include <Servo.h>
kyxstark 3:40988c59e571 8 #include "../actuators.h"
kyxstark 3:40988c59e571 9 #include "ros/msg.h"
kyxstark 3:40988c59e571 10
kyxstark 3:40988c59e571 11
kyxstark 3:40988c59e571 12 #define MAA_CLOSING_TIMEOUT 1
kyxstark 3:40988c59e571 13 #define MAA_OPENING_TIMEOUT 1
kyxstark 3:40988c59e571 14 #define MAA_PAUSE_TIMEOUT 1
kyxstark 3:40988c59e571 15
kyxstark 3:40988c59e571 16
kyxstark 3:40988c59e571 17
kyxstark 5:04d111f63a0f 18 namespace stm32_actuators_node
kyxstark 3:40988c59e571 19 {
kyxstark 3:40988c59e571 20
kyxstark 3:40988c59e571 21 class Manche_a_air_msg : public ros::Msg
kyxstark 3:40988c59e571 22 {
kyxstark 3:40988c59e571 23 public:
kyxstark 3:40988c59e571 24 typedef uint8_t _index_manche_a_air_type;
kyxstark 3:40988c59e571 25 _index_manche_a_air_type index_manche_a_air;
kyxstark 3:40988c59e571 26 typedef uint8_t _manche_a_air_order_type;
kyxstark 3:40988c59e571 27 _manche_a_air_order_type manche_a_air_order;
kyxstark 3:40988c59e571 28
kyxstark 3:40988c59e571 29 Manche_a_air_msg():
kyxstark 3:40988c59e571 30 index_manche_a_air(0),
kyxstark 3:40988c59e571 31 manche_a_air_order(0)
kyxstark 3:40988c59e571 32 {
kyxstark 3:40988c59e571 33 }
kyxstark 3:40988c59e571 34
kyxstark 3:40988c59e571 35 virtual int serialize(unsigned char *outbuffer) const
kyxstark 3:40988c59e571 36 {
kyxstark 3:40988c59e571 37 int offset = 0;
kyxstark 3:40988c59e571 38 *(outbuffer + offset + 0) = (this->index_manche_a_air >> (8 * 0)) & 0xFF;
kyxstark 3:40988c59e571 39 offset += sizeof(this->index_manche_a_air);
kyxstark 3:40988c59e571 40 *(outbuffer + offset + 0) = (this->manche_a_air_order >> (8 * 0)) & 0xFF;
kyxstark 3:40988c59e571 41 offset += sizeof(this->manche_a_air_order);
kyxstark 3:40988c59e571 42 return offset;
kyxstark 3:40988c59e571 43 }
kyxstark 3:40988c59e571 44
kyxstark 3:40988c59e571 45 virtual int deserialize(unsigned char *inbuffer)
kyxstark 3:40988c59e571 46 {
kyxstark 3:40988c59e571 47 int offset = 0;
kyxstark 3:40988c59e571 48 this->index_manche_a_air = ((uint8_t) (*(inbuffer + offset)));
kyxstark 3:40988c59e571 49 offset += sizeof(this->index_manche_a_air);
kyxstark 3:40988c59e571 50 this->manche_a_air_order = ((uint8_t) (*(inbuffer + offset)));
kyxstark 3:40988c59e571 51 offset += sizeof(this->manche_a_air_order);
kyxstark 3:40988c59e571 52 return offset;
kyxstark 3:40988c59e571 53 }
kyxstark 3:40988c59e571 54
kyxstark 5:04d111f63a0f 55 const char * getType(){ return "stm32_actuators/Manche_a_air_msg"; };
kyxstark 4:de7ca80dbe4b 56 const char * getMD5(){ return "33a9b4e076016e58fe35593be08a2827"; };
kyxstark 3:40988c59e571 57
kyxstark 3:40988c59e571 58 };
kyxstark 3:40988c59e571 59
kyxstark 3:40988c59e571 60 }
kyxstark 3:40988c59e571 61
kyxstark 3:40988c59e571 62
kyxstark 5:04d111f63a0f 63 void maa_trait_msg(const stm32_actuators_node::Manche_a_air_msg& manche_a_air_msg);
kyxstark 3:40988c59e571 64
kyxstark 3:40988c59e571 65
kyxstark 3:40988c59e571 66
kyxstark 3:40988c59e571 67 class Manche_a_air
kyxstark 3:40988c59e571 68 {
kyxstark 3:40988c59e571 69 public:
kyxstark 3:40988c59e571 70
kyxstark 4:de7ca80dbe4b 71 typedef enum
kyxstark 3:40988c59e571 72 {closed, opening, opened, closing}
kyxstark 3:40988c59e571 73 state_manche_a_air_t;
kyxstark 3:40988c59e571 74
kyxstark 3:40988c59e571 75 typedef enum
kyxstark 3:40988c59e571 76 {close, open}
kyxstark 3:40988c59e571 77 manche_a_air_order_t;
kyxstark 3:40988c59e571 78
kyxstark 3:40988c59e571 79 Manche_a_air(PinName pin_servo, float servo_open, float servo_close);
kyxstark 3:40988c59e571 80
kyxstark 3:40988c59e571 81 void update_order(int order);
kyxstark 3:40988c59e571 82 void automate(void);
kyxstark 3:40988c59e571 83
kyxstark 3:40988c59e571 84 manche_a_air_order_t _order;
kyxstark 3:40988c59e571 85 state_manche_a_air_t _state;
kyxstark 3:40988c59e571 86 Servo* _servo;
kyxstark 3:40988c59e571 87
kyxstark 3:40988c59e571 88 float _servo_open;
kyxstark 3:40988c59e571 89 float _servo_close;
kyxstark 3:40988c59e571 90
kyxstark 3:40988c59e571 91 float _time;
kyxstark 3:40988c59e571 92
kyxstark 3:40988c59e571 93 int _flag_auto_open;
kyxstark 3:40988c59e571 94 int _flag_auto_close;
kyxstark 3:40988c59e571 95 float _timeout_auto_open;
kyxstark 3:40988c59e571 96 float _timeout_auto_close;
kyxstark 3:40988c59e571 97
kyxstark 3:40988c59e571 98 void set_auto_open(int flag, float timeout);
kyxstark 3:40988c59e571 99 void set_auto_close(int flag, float timeout);
kyxstark 3:40988c59e571 100
kyxstark 3:40988c59e571 101 };
kyxstark 3:40988c59e571 102 #endif