54 lines
1.6 KiB
C++
54 lines
1.6 KiB
C++
/*
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* BinaryEncoder.hh
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*
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* Created on: 23 èþí. 2023 ã.
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* Author: titov
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*/
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#ifndef UMLIBRARY_APPLICATION_DRIVERS_BINARYENCODER_HH_
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#define UMLIBRARY_APPLICATION_DRIVERS_BINARYENCODER_HH_
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#include "../ISetupStep.hh"
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#include "../../communication/format/BinaryDataPublisher.hh"
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namespace application { namespace board {
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//!Ìîäóëü ïðåäñòàâëÿåò áèíàðíûå äàííûå â âèäå ýíêîäåðà.
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struct BinaryEncoder : public ISetupStep {
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::communication::ISubscriberRegistrator * data_master = nullptr;
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bool input( Environment & env );
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void build( Environment & env );
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struct Links {
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Environment::Id data_master; //!<Âõîäÿùèé ôðåéì äàííûõ.
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Environment::Id encoder; //!<Èíòåðôåéñ ýíêîäåðà, ñèíõðîíèçèðîâàííûå ïî ïðîöåññó äàííûå.
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};
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struct Setting {
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uint16_t frame_bitsize; //!<Ðàçìåð äàííûõ ïîñûëêè â áèòàõ.
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uint16_t frame_bitoffset; //!<Ñìåùåíèå äàííûõ ïîñûëêè â áèòàõ.
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uint16_t agnle_bitsize:6; //!<Ðàçìåð äàííûõ "óãëà" â áèòàõ â ïîñûëêå.
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uint16_t turn_bitsize:6; //!<Ðàçìåð äàííûõ "îáîðîòîâ" â áèòàõ â ïîñûëêå.
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uint16_t inversion:1; //!<Íåîáõîäèìîñòü èíâåðñèè íàïðàâëåíèÿ âðàùåíèÿ [0 - ïðÿìîå âðàùåíèå, 1 - èíâåðòèðîâàííîå âðàùåíèå].
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uint16_t encoder_type:3; //!<Òèï ýíêîäåðà: [0 - áèíàðíûé êîä, 1 - êîä ãðåÿ]
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};
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const Links & links;
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const Setting & config;
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BinaryEncoder( const Links & links, const Setting & config );
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};
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} /* namespace board */
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} /* namespace application */
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#endif /* UMLIBRARY_APPLICATION_DRIVERS_BINARYENCODER_HH_ */
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