62 lines
1.9 KiB
C++
62 lines
1.9 KiB
C++
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/*
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* EncoderMultiturnWraper.hh
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*
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* Created on: 22 сент. 2021 г.
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* Author: sozonov
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*/
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#ifndef UMLIBRARY_APPLICATION_DRIVERS_ENCODERMULTITURNWRAPER_HH_
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#define UMLIBRARY_APPLICATION_DRIVERS_ENCODERMULTITURNWRAPER_HH_
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#include "../ISetupStep.hh"
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#include "../../systemic/IFunctor.hh"
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#include "../../driver/IEncoder.hh"
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#include <memory_resource>
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namespace application { namespace board {
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//!Декоратор однооборотного энкодрера.
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struct EncoderMultiturnWraper : public ISetupStep {
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typedef systemic::IFunctor<void> Action;
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driver::IEncoder * singleturn = 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 singleturn; //!< Входные данные для декорирования в многооборотный энкодер.
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Environment::Id multiturn; //!< Многооборотный энкодер на базе однооборотного.
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Environment::StatusId failure;
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Environment::StatusId valid_data;
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Environment::Id reset;
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};
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struct Setting {
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unsigned short max_error; //!<Счетчик максимального количества ошибок.
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float max_angle_delta; //!<Изменение между двумя значениями угла больше данного порога считаются ошибкой.
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uint16_t num_turn; //!<Количество оборотов.
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};
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const Links & links;
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const configuration::ProcessConfig & params;
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const Setting & config;
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EncoderMultiturnWraper( const Links & links, const Setting & config,
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const configuration::ProcessConfig & proc );
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};
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} /* namespace board */
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} /* namespace application */
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#endif /* UMLIBRARY_APPLICATION_DRIVERS_ENCODERMULTITURNWRAPER_HH_ */
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