Diff: State/State.h

Revision:

12:235e318a414f

Parent:

11:775ebb69d5e1

Child:

23:4d8173c5183b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/State/State.h	Sun Apr 07 08:31:51 2013 +0000
@@ -0,0 +1,100 @@
+#ifndef _STATE_H_
+#define _STATE_H_
+
+#include "MaxonESCON.h"
+#include "RobotControl.h"
+#include "Task.h"
+#include "defines.h"
+
+/**
+ * @author Christian Burri
+ *
+ * @copyright Copyright © 2013 HSLU Pren Team #1 Cruising Crêpe
+ * All rights reserved.
+ *
+ * @brief
+ *
+ * State is the main mechanism for communicating current realtime system state to
+ * the rest of the system for logging etc.
+ *
+ */
+
+class State : public Task
+{
+
+private:
+
+    state_t*            s;
+    RobotControl*       robotControl;
+    MaxonESCON*         motorControllerLeft;
+    MaxonESCON*         motorControllerRight;
+    AnalogIn            battery;
+    Timer               timer;
+    float               period;
+
+public:
+
+    /**
+     * @brief Creates a robot control object and initializes all private state variables.
+     * @param s struct to read and write the state
+     * @param robotControl Object to read the state
+     * @param motorControllerLeft a reference to the servo drive for the left motor
+     * @param motorControllerRight a reference to the servo drive for the right motor
+     * @param batteryPin mbed pin for analog Input Battery Voltage
+     * @param period the sampling period of the run loop of this controller, given in [s]
+     */
+    State(state_t* s,
+          RobotControl* robotControl,
+          MaxonESCON* motorControllerLeft,
+          MaxonESCON* motorControllerRight,
+          PinName batteryPin,
+          float period);
+
+    /**
+     * @brief Destructor of the Object to destroy the Object.
+     */
+    virtual     ~State();
+
+    /**
+     * @brief Initzialize the File. Open the File plots.txt and set the title at first line.
+     */
+    void initPlotFile(void);
+
+    /**
+     * @brief Close the File.
+     */
+    void closePlotFile(void);
+
+    /**
+     * @brief Return the Battery voltage
+     * state variables.
+     * @return Batterie Voltage [V]
+     */
+    float readBattery();
+
+    /**
+     * @brief Starts the timer from zero.
+     * The timer is for the logging Time.
+     */
+    void startTimerFromZero();
+
+    /**
+     * @brief Save the new state to a new line.
+     */
+    void savePlotFile(state_t s);
+
+    /**
+     * @brief Run method actualize every period.
+     */
+    void        run();
+
+private:
+
+    void setBatteryBit();
+
+    void setEnableLeftBit();
+
+    void setEnableRightBit();
+};
+
+#endif