84 lines
2.1 KiB
C++
84 lines
2.1 KiB
C++
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/*
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* BinaryEncoderSync.hh
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*
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* Created on: 19 янв. 2022 г.
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* Author: titov
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*/
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#ifndef UMLIBRARY_DRIVER_BINARYENCODERSYNC_HH_
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#define UMLIBRARY_DRIVER_BINARYENCODERSYNC_HH_
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#include <atomic>
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#include <cmath>
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#include <stdint.h>
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#include "IEncoder.hh"
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#include "../systemic/IProcess.hh"
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#include "../common/DoubleBuffer.hpp"
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#include "../communication/IBinaryDataSubscriber.hh"
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#include "../communication/format/BinaryHelpers.hh"
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#include "../peripheral/NanoTimer.hh"
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namespace driver { namespace detail {
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class BinaryEncoderSync : public IEncoder, public systemic::IProcess, public communication::IBinaryDataSubscriber {
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public:
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typedef communication::format::bits::bitsize bitsize;
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BinaryEncoderSync( bitsize angle_offset, bitsize angle_size,
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bitsize turn_offset, bitsize turn_size );
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void read( const void * data, std::size_t size );
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void process();
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void setSampleTime( float ts_in_second );
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//!Функция возращает номер оборота.
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Turn getTurn() const;
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//!Функция возращает угол в радианах от 0 до 2*pi или NaN.
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Angle getAngle() const;
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//!Метод позволяет получить консистентные данные позиции энкодера в формате (оборот, угол).
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std::pair<Turn, Angle> getPosition() const;
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private:
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typedef uint32_t frame;
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//todo: extract to communication
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struct Bitfield {
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frame mask;
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bitsize offset;
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frame get( frame );
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Bitfield( bitsize offset, bitsize size );
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} angle, turn;
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float angle_cost;
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peripheral::nanotimer::time_ns cycle_time;
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struct Points {
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struct Point {
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Turn turn;
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Angle angle;
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peripheral::nanotimer::stamp timestamp;
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} first, second;
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};
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std::atomic< Points > points;
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std::atomic_flag handled;
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DoubleBuffer< std::pair<Turn, Angle> > sample;
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std::pair<Turn, Angle> per_sample( peripheral::nanotimer::stamp timestamp );
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};
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}}
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#endif /* UMLIBRARY_DRIVER_BINARYENCODERSYNC_HH_ */
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