80 lines
2.0 KiB
C++
80 lines
2.0 KiB
C++
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/*
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* EncoderMultiturnWraper.h
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*
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* Created on: 20 <EFBFBD><EFBFBD><EFBFBD><EFBFBD>. 2021 <EFBFBD>.
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* Author: Kruglij
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*/
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#ifndef UMLIBRARY_DRIVER_ENCODERMULTITURNWRAPER_H_
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#define UMLIBRARY_DRIVER_ENCODERMULTITURNWRAPER_H_
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#include <cmath>
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#include <stdint.h>
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#include "../common/Counter.hpp"
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#include "../common/DoubleBuffer.hpp"
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#include "../math/math_inc.hh"
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#include "../systemic/IProcess.hh"
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#include "IEncoder.hh"
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namespace driver { namespace detail {
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class EncoderMultiturnWraper : public IEncoder, public systemic::IProcess {
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private:
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IEncoder & single_turn_encoder;
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Counter<unsigned short> error_counter;
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DoubleBuffer< std::pair<Turn, Angle> > data;
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float prev_angle = NAN;
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float max_angle_delta = NAN;
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public:
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struct TurnCounter {
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unsigned short max_count = 0;
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unsigned short num_count = 0;
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operator float();
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TurnCounter & operator++();
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TurnCounter & operator--();
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TurnCounter & operator=(unsigned short new_num_count);
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void setMaxCount(unsigned short new_max_count);
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} turn_counter;
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struct Setting {
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float max_angle_delta; //!<<3C><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>.
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uint16_t num_turn; //!<<3C><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>.
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bool isValid() const {
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return max_angle_delta < math::constants::pi2 and num_turn;
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}
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};
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bool configure( Setting & config );
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void reset();
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virtual float getTurn() const override { return data.read().first; }
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virtual float getAngle() const override { return data.read().second; }
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virtual std::pair<Turn, Angle> getPosition() const override { return data.read(); }
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bool isValidData() const { return !( error_counter.value() ); }
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bool isFailure() const { return static_cast<bool>(error_counter); }
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void process();
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EncoderMultiturnWraper( IEncoder & encoder, unsigned short max_error );
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};
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} /* namespace detail */
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} /* namespace driver */
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#endif /* UMLIBRARY_DRIVER_ENCODERMULTITURNWRAPER_H_ */
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