Diff: Manche_a_air.h

Revision:

3:40988c59e571

Child:

4:de7ca80dbe4b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Manche_a_air.h	Thu Jul 08 14:10:08 2021 +0000
@@ -0,0 +1,102 @@
+#ifndef _ROS_stm32_manche_a_air_Manche_a_air_h
+#define _ROS_stm32_manche_a_air_Manche_a_air_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include <Servo.h>
+#include "../actuators.h"
+#include "ros/msg.h"
+
+
+#define MAA_CLOSING_TIMEOUT 1
+#define MAA_OPENING_TIMEOUT 1
+#define MAA_PAUSE_TIMEOUT 1
+
+
+
+namespace manche_a_air_node
+{
+
+  class Manche_a_air_msg : public ros::Msg
+  {
+    public:
+        typedef uint8_t _index_manche_a_air_type;
+        _index_manche_a_air_type index_manche_a_air;
+        typedef uint8_t _manche_a_air_order_type;
+        _manche_a_air_order_type manche_a_air_order;
+
+        Manche_a_air_msg():
+            index_manche_a_air(0),
+            manche_a_air_order(0)
+        {
+        }
+    
+        virtual int serialize(unsigned char *outbuffer) const
+        {
+            int offset = 0;
+            *(outbuffer + offset + 0) = (this->index_manche_a_air >> (8 * 0)) & 0xFF;
+            offset += sizeof(this->index_manche_a_air);
+            *(outbuffer + offset + 0) = (this->manche_a_air_order >> (8 * 0)) & 0xFF;
+            offset += sizeof(this->manche_a_air_order);
+            return offset;
+        }
+    
+        virtual int deserialize(unsigned char *inbuffer)
+        {
+            int offset = 0;
+            this->index_manche_a_air =  ((uint8_t) (*(inbuffer + offset)));
+            offset += sizeof(this->index_manche_a_air);
+            this->manche_a_air_order =  ((uint8_t) (*(inbuffer + offset)));
+            offset += sizeof(this->manche_a_air_order);
+            return offset;
+        }
+    
+        const char * getType(){ return "manche_a_air_node/Manche_a_air_msg"; };
+        const char * getMD5(){ return "a815ad8e99f7afa3407df9769a024935"; };
+
+  };
+
+}
+
+
+void maa_trait_msg(const manche_a_air_node::Manche_a_air_msg& manche_a_air_msg);
+
+
+
+class Manche_a_air
+{
+    public:
+    
+            typedef enum
+        {closed, opening, opened, closing}
+        state_manche_a_air_t;
+        
+        typedef enum
+        {close, open}
+        manche_a_air_order_t;
+    
+        Manche_a_air(PinName pin_servo, float servo_open, float servo_close);
+        
+        void update_order(int order);
+        void automate(void);
+        
+        manche_a_air_order_t _order;
+        state_manche_a_air_t _state;
+        Servo* _servo;
+        
+        float _servo_open;
+        float _servo_close;
+        
+        float _time;
+        
+        int _flag_auto_open;
+        int _flag_auto_close;
+        float _timeout_auto_open;
+        float _timeout_auto_close;
+                
+        void set_auto_open(int flag, float timeout);
+        void set_auto_close(int flag, float timeout);
+
+};
+#endif