Last change
on this file since 348 was 137, checked in by Sanahuja Guillaume, 8 years ago |
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1 | // %flair:license{
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2 | // This file is part of the Flair framework distributed under the
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3 | // CECILL-C License, Version 1.0.
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4 | // %flair:license}
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5 | /*!
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6 | * \file Srf08.h
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7 | * \brief Class for ultra sonic SRF08
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8 | * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
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9 | * \date 2011/05/01
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10 | * \version 4.0
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11 | */
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12 |
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13 | #ifndef SRF08_H
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14 | #define SRF08_H
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15 |
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16 | #include <Thread.h>
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17 | #include <UsRangeFinder.h>
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18 |
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19 | namespace flair {
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20 | namespace core {
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21 | class I2cPort;
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22 | }
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23 | namespace gui {
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24 | class SpinBox;
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25 | }
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26 | }
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27 |
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28 | namespace flair {
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29 | namespace sensor {
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30 | /*! \class Srf08
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31 | *
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32 | * \brief Class for ultra sonic SRF08
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33 | */
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34 | class Srf08 : public core::Thread, public UsRangeFinder {
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35 |
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36 | public:
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37 | /*!
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38 | * \brief Constructor
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39 | *
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40 | * Construct a SRF08 sensor
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41 | * It will be child of the FrameworkManager.
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42 | *
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43 | * \param name name
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44 | * \param i2cport i2c port
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45 | * \param address i2c slave address
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46 | * \param priority priority of the Thread
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47 | */
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48 | Srf08(std::string name,
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49 | core::I2cPort *i2cport, uint16_t address, uint8_t priority);
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50 |
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51 | /*!
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52 | * \brief Destructor
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53 | *
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54 | */
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55 | ~Srf08();
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56 |
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57 | /*!
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58 | * \brief Set Range
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59 | *
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60 | * check datasheet for values
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61 | */
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62 | void SetRange(void);
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63 |
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64 | /*!
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65 | * \brief Set Max Gain
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66 | *
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67 | * check datasheet for values
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68 | */
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69 | void SetMaxGain(void);
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70 |
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71 | private:
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72 | /*!
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73 | * \brief Update using provided datas
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74 | *
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75 | * Reimplemented from IODevice.
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76 | *
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77 | * \param data data from the parent to process
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78 | */
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79 | void UpdateFrom(const core::io_data *data){};
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80 |
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81 | /*!
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82 | * \brief Run function
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83 | *
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84 | * Reimplemented from Thread.
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85 | *
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86 | */
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87 | void Run(void);
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88 |
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89 | void SendEcho(void);
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90 | void GetEcho(void);
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91 |
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92 | bool is_init;
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93 | core::Time echo_time;
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94 | float z_1, z_2;
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95 | gui::SpinBox *gain, *range;
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96 | uint16_t address;
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97 | core::I2cPort *i2cport;
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98 | };
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99 | } // end namespace sensor
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100 | } // end namespace flair
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101 | #endif // SRF08_H
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