Skip to content

Q
qgroundcontrol
Commit f391ef7a authored by Valentin Platzgummer's avatar Valentin Platzgummer
Browse files
Options

Heartbeat handling added to WimaController

parent d0db1f13
Hide whitespace changes
Inline Side-by-side
Showing with 224 additions and 79 deletions
qgroundcontrol.pro
View file @ f391ef7a
......@@ -432,6 +432,7 @@ HEADERS += \
src/Wima/Geometry/GeoPoint3D.h \
src/Wima/Geometry/Polygon2D.h \
src/Wima/Geometry/PolygonArray.h \
src/Wima/Snake/QNemoHeartbeat.h \
src/Wima/Snake/QNemoProgress.h \
src/Wima/Snake/QtROSJsonFactory.h \
src/Wima/Snake/QtROSTypeFactory.h \
......
src/FlightDisplay/FlightDisplayViewMap.qml
View file @ f391ef7a
......@@ -244,19 +244,15 @@ FlightMap {
// Add Snake tiles center points to the map
MapItemView {
property bool _lengthMatching: wimaController.snakeTileCenterPoints.count
> 0
property bool _enable: wimaController.enableWimaController.value
&& wimaController.enableSnake.value
&& _lengthMatching
model: _enable ? wimaController.snakeTileCenterPoints : 0
delegate: MapCircle{
center: modelData
border.color: "transparent"
color: getColor(wimaController.snakeProgress[index])
color: getColor(wimaController.nemoProgress[index])
radius: 0.6
opacity: 1
z: 1
......
src/FlightDisplay/FlightDisplayWimaMenu.qml
View file @ f391ef7a
......@@ -204,10 +204,9 @@ Item {
// Snake connection status.
QGCLabel {
property int _connectionStatus: wimaController.snakeConnectionStatus
text: _connectionStatus === 1 ?
qsTr("Status: Connected")
: qsTr("Status: Not Connected")
property int index: wimaController.nemoStatus
property string statusString: wimaController.nemoStatusString
text: "Status: " + statusString
Layout.fillWidth: true
}
......@@ -370,7 +369,7 @@ Item {
QGCButton {
id: buttonSmartRTL
text: qsTr("Smart RTL")
onClicked: wimaController.initSmartRTL();
onClicked: wimaController.requestSmartRTL();
Layout.columnSpan: 2
Layout.fillWidth: true
}
......
src/Wima/Snake/QNemoHeartbeat.h 0 → 100644
View file @ f391ef7a
#pragma once
#include "ros_bridge/include/GenericMessages.h"
using QNemoHeartbeat = ROSBridge::GenericMessages::NemoMsgs::Heartbeat;
src/Wima/WaypointManager/RTLManager.cpp
View file @ f391ef7a
......@@ -81,22 +81,28 @@ bool WaypointManager::RTLManager::reset()
return true;
}
QString WaypointManager::RTLManager::checkPrecondition()
bool WaypointManager::RTLManager::checkPrecondition(QString &errorString)
{
// Be aware of the error message order!
Vehicle *managerVehicle = _settings->masterController()->managerVehicle();
if (!managerVehicle->flying()) {
return QString("Vehicle is not flying. Smart RTL not available.");
if ( managerVehicle->isOfflineEditingVehicle() ) {
errorString.append("No vehicle connected. Smart RTL not available.");
return false;
}
if (!managerVehicle->isOfflineEditingVehicle()) {
return QString("Not connected to any vehicle. Smart RTL not available.");
if ( !managerVehicle->flying() ) {
errorString.append("Vehicle is not flying. Smart RTL not available.");
return false;
}
if (!_areaInterface->joinedArea()->containsCoordinate(managerVehicle->coordinate())) {
return QString("Vehicle not inside save area. Smart RTL not available.");
if ( !_areaInterface->joinedArea()->containsCoordinate(
managerVehicle->coordinate()) ) {
errorString.append("Vehicle not inside save area. Smart RTL not available.");
return false;
}
return QString();
return true;
}
bool WaypointManager::RTLManager::_insertMissionItem(const QGeoCoordinate &c,
......
src/Wima/WaypointManager/RTLManager.h
View file @ f391ef7a
......@@ -76,7 +76,7 @@ public:
//!
virtual bool reset() override;
QString checkPrecondition();
bool checkPrecondition(QString &errorString);
protected:
bool _insertMissionItem(const QGeoCoordinate &c,
......
src/Wima/WimaController.cc
View file @ f391ef7a
......@@ -9,11 +9,13 @@
#include "Snake/QtROSJsonFactory.h"
#include "Snake/QtROSTypeFactory.h"
#include "Snake/QNemoProgress.h"
#include "Snake/QNemoHeartbeat.h"
#include "QVector3D"
#include <QScopedPointer>
// const char* WimaController::wimaFileExtension = "wima";
const char* WimaController::areaItemsName = "AreaItems";
const char* WimaController::missionItemsName = "MissionItems";
......@@ -33,6 +35,10 @@ const char* WimaController::snakeMinTileAreaName = "SnakeMinTileArea";
const char* WimaController::snakeLineDistanceName = "SnakeLineDistance";
const char* WimaController::snakeMinTransectLengthName = "SnakeMinTransectLength";
WimaController::StatusMap WimaController::_nemoStatusMap{std::make_pair<int, QString>(0, "No Heartbeat"),
std::make_pair<int, QString>(1, "Connected"),
std::make_pair<int, QString>(-1, "Timeout")};
using namespace snake;
using namespace snake_geometry;
......@@ -61,7 +67,6 @@ WimaController::WimaController(QObject *parent)
, _altitude (settingsGroup, _metaDataMap[altitudeName])
, _measurementPathLength (-1)
, _lowBatteryHandlingTriggered (false)
, _snakeConnectionStatus (SnakeConnectionStatus::Connected) // TODO: implement automatic connection
, _snakeCalcInProgress (false)
, _scenarioDefinedBool (false)
, _snakeTileWidth (settingsGroup, _metaDataMap[snakeTileWidthName])
......@@ -69,6 +74,8 @@ WimaController::WimaController(QObject *parent)
, _snakeMinTileArea (settingsGroup, _metaDataMap[snakeMinTileAreaName])
, _snakeLineDistance (settingsGroup, _metaDataMap[snakeLineDistanceName])
, _snakeMinTransectLength (settingsGroup, _metaDataMap[snakeMinTransectLengthName])
, _nemoHeartbeat (0 /*status: not connected*/)
, _fallbackStatus (0 /*status: not connected*/)
, _pRosBridge (new ROSBridge::ROSBridge())
{
// Set up facts.
......@@ -85,16 +92,17 @@ WimaController::WimaController(QObject *parent)
_defaultManager.setN(_maxWaypointsPerPhase.rawValue().toUInt());
_defaultManager.setStartIndex(_nextPhaseStartWaypointIndex.rawValue().toUInt());
// setup low battery handling
// Periodic.
connect(&_eventTimer, &QTimer::timeout, this, &WimaController::_eventTimerHandler);
_eventTimer.setInterval(EVENT_TIMER_INTERVAL);
//_eventTimer.setInterval(EVENT_TIMER_INTERVAL);
_eventTimer.start(EVENT_TIMER_INTERVAL);
// Snake Worker Thread.
connect(&_snakeWorker, &SnakeWorker::finished, this, &WimaController::_snakeStoreWorkerResults);
connect(this, &WimaController::nemoProgressChanged, this, &WimaController::_initStartSnakeWorker);
connect(this, &QObject::destroyed, &this->_snakeWorker, &SnakeWorker::quit);
// Start, stop RosBridge.
// Snake.
connect(&_enableSnake, &Fact::rawValueChanged, this, &WimaController::_startStopRosBridge);
_startStopRosBridge();
connect(&_enableSnake, &Fact::rawValueChanged, this, &WimaController::_initStartSnakeWorker);
......@@ -169,6 +177,13 @@ Fact *WimaController::altitude() {
return &_altitude;
}
QVector<int> WimaController::nemoProgress() {
if ( _nemoProgress.progress().size() == _snakeTileCenterPoints.size() )
return _nemoProgress.progress();
else
return QVector<int>(_snakeTileCenterPoints.size(), 0);
}
double WimaController::phaseDistance() const
{
return 0.0;
......@@ -179,9 +194,14 @@ double WimaController::phaseDuration() const
return 0.0;
}
long WimaController::snakeConnectionStatus() const
int WimaController::nemoStatus() const
{
return _nemoHeartbeat.status();
}
QString WimaController::nemoStatusString() const
{
return _snakeConnectionStatus;
return _nemoStatusMap.at(_nemoHeartbeat.status());
}
bool WimaController::snakeCalcInProgress() const
......@@ -234,6 +254,11 @@ void WimaController::resetPhase()
void WimaController::requestSmartRTL()
{
QString errorString("Smart RTL requested. ");
if ( !_checkSmartRTLPreCondition(errorString) ){
qgcApp()->showMessage(errorString);
return;
}
emit smartRTLRequestConfirm();
}
......@@ -521,7 +546,7 @@ bool WimaController::_calcNextPhase()
bool WimaController::_setStartIndex()
{
bool value;
_currentManager->setStartIndex(_nextPhaseStartWaypointIndex.rawValue().toUInt(&value));
_currentManager->setStartIndex(_nextPhaseStartWaypointIndex.rawValue().toUInt(&value)-1);
Q_ASSERT(value);
(void)value;
......@@ -587,7 +612,7 @@ void WimaController::_updateMaxWaypoints()
void WimaController::_updateflightSpeed()
{
bool value;
_managerSettings.setFlightSpeed(_flightSpeed.rawValue().toDouble());
_managerSettings.setFlightSpeed(_flightSpeed.rawValue().toDouble(&value));
Q_ASSERT(value);
(void)value;
......@@ -604,7 +629,7 @@ void WimaController::_updateflightSpeed()
void WimaController::_updateArrivalReturnSpeed()
{
bool value;
_managerSettings.setArrivalReturnSpeed(_arrivalReturnSpeed.rawValue().toDouble());
_managerSettings.setArrivalReturnSpeed(_arrivalReturnSpeed.rawValue().toDouble(&value));
Q_ASSERT(value);
(void)value;
......@@ -621,7 +646,7 @@ void WimaController::_updateArrivalReturnSpeed()
void WimaController::_updateAltitude()
{
bool value;
_managerSettings.setAltitude(_altitude.rawValue().toDouble());
_managerSettings.setAltitude(_altitude.rawValue().toDouble(&value));
Q_ASSERT(value);
(void)value;
......@@ -653,7 +678,7 @@ void WimaController::_checkBatteryLevel()
if (!_lowBatteryHandlingTriggered) {
_lowBatteryHandlingTriggered = true;
if ( !(_missionController->remainingTime() <= minTime) ) {
_initSmartRTL();
requestSmartRTL();
}
}
}
......@@ -669,6 +694,7 @@ void WimaController::_eventTimerHandler()
static EventTicker batteryLevelTicker(EVENT_TIMER_INTERVAL, CHECK_BATTERY_INTERVAL);
static EventTicker snakeEventLoopTicker(EVENT_TIMER_INTERVAL, SNAKE_EVENT_LOOP_INTERVAL);
static EventTicker rosBridgeTicker(EVENT_TIMER_INTERVAL, 1000);
static EventTicker nemoStatusTicker(EVENT_TIMER_INTERVAL, 5000);
// Battery level check necessary?
Fact *enableLowBatteryHandling = qgcApp()->toolbox()->settingsManager()->wimaSettings()->enableLowBatteryHandling();
......@@ -681,17 +707,35 @@ void WimaController::_eventTimerHandler()
// }
// }
if (rosBridgeTicker.ready()) {
if ( nemoStatusTicker.ready() ) {
this->_nemoHeartbeat.setStatus(_fallbackStatus);
emit WimaController::nemoStatusChanged();
emit WimaController::nemoStatusStringChanged();
}
if (_enableSnake.rawValue().toBool() && rosBridgeTicker.ready()) {
_pRosBridge->publish(_snakeTilesLocal, "/snake/tiles");
_pRosBridge->publish(_snakeOrigin, "/snake/origin");
using namespace std::placeholders;
auto callBack = std::bind(&WimaController::_progressFromJson,
this,
_1,
std::ref(_nemoProgress));
_pRosBridge->subscribe("/nemo/progress", callBack);
auto progressCallBack = std::bind(&WimaController::_progressFromJson,
this,
_1,
std::ref(_nemoProgress));
_pRosBridge->subscribe("/nemo/progress", progressCallBack);
_pRosBridge->subscribe("/nemo/heartbeat", [this, &nemoStatusTicker](JsonDocUPtr pDoc){
if ( !this->_pRosBridge->casePacker()->unpack(pDoc, this->_nemoHeartbeat) ) {
if ( this->_nemoHeartbeat.status() == this->_fallbackStatus )
return;
this->_nemoHeartbeat.setStatus(this->_fallbackStatus);
}
nemoStatusTicker.reset();
this->_fallbackStatus = -1; /*Timeout*/
emit WimaController::nemoStatusChanged();
emit WimaController::nemoStatusStringChanged();
});
}
}
......@@ -725,14 +769,14 @@ void WimaController::_setPhaseDuration(double duration)
// }
}
QString WimaController::_checkSmartRTLPreCondition(void)
bool WimaController::_checkSmartRTLPreCondition(QString &errorString)
{
if (!_localPlanDataValid) {
return QString(tr("No WiMA data available. Please define at least a measurement and a service area."));
errorString.append(tr("No WiMA data available. Please define at least a measurement and a service area."));
return false;
}
auto errorString = _rtlManager.checkPrecondition();
return errorString;
return _rtlManager.checkPrecondition(errorString);
}
void WimaController::_switchWaypointManager(WaypointManager::ManagerBase &manager)
......@@ -740,6 +784,15 @@ void WimaController::_switchWaypointManager(WaypointManager::ManagerBase &manage
if (_currentManager != &manager) {
_currentManager = &manager;
bool value;
_currentManager->setN(_maxWaypointsPerPhase.rawValue().toUInt(&value));
Q_ASSERT(value);
_currentManager->setOverlap(_overlapWaypoints.rawValue().toUInt(&value));
Q_ASSERT(value);
_currentManager->setStartIndex(_nextPhaseStartWaypointIndex.rawValue().toUInt(&value)-1);
Q_ASSERT(value);
(void)value;
emit missionItemsChanged();
emit currentMissionItemsChanged();
emit waypointPathChanged();
......@@ -755,7 +808,7 @@ void WimaController::_initSmartRTL()
static int attemptCounter = 0;
attemptCounter++;
if (!_checkSmartRTLPreCondition().isEmpty()) {
if ( _checkSmartRTLPreCondition(errorString) ) {
_masterController->managerVehicle()->pauseVehicle();
connect(masterController()->managerVehicle(), &Vehicle::flyingChanged, this, &WimaController::_smartRTLCleanUp);
if ( _rtlManager.update() ) { // Calculate return path.
......@@ -773,14 +826,6 @@ void WimaController::_initSmartRTL()
}
}
void WimaController::_setSnakeConnectionStatus(WimaController::SnakeConnectionStatus status)
{
if (_snakeConnectionStatus != status) {
_snakeConnectionStatus = status;
emit snakeConnectionStatusChanged();
}
}
void WimaController::_setSnakeCalcInProgress(bool inProgress)
{
if (_snakeCalcInProgress != inProgress){
......@@ -823,8 +868,7 @@ void WimaController::_snakeStoreWorkerResults()
// create Mission items from r.waypoints
long n = r.waypoints.size() - r.returnPathIdx.size() - r.arrivalPathIdx.size() + 2;
if (n >= 1) {
Q_ASSERT(n >= 1);
if (n < 1) {
return;
}
......
src/Wima/WimaController.h
View file @ f391ef7a
......@@ -33,12 +33,15 @@
#include "Snake/SnakeTilesLocal.h"
#include "Geometry/GeoPoint3D.h"
#include "Snake/QNemoProgress.h"
#include "Snake/QNemoHeartbeat.h"
#include "ros_bridge/include/ROSBridge.h"
#include "WaypointManager/DefaultManager.h"
#include "WaypointManager/RTLManager.h"
#include <map>
#define CHECK_BATTERY_INTERVAL 1000 // ms
#define SMART_RTL_MAX_ATTEMPTS 3 // times
#define SMART_RTL_ATTEMPT_INTERVAL 200 // ms
......@@ -60,8 +63,6 @@ class WimaController : public QObject
public:
enum SnakeConnectionStatus {Connected = 1, NotConnected = 0};
WimaController(QObject *parent = nullptr);
......@@ -149,9 +150,13 @@ public:
READ enableSnake
CONSTANT
)
Q_PROPERTY(long snakeConnectionStatus
READ snakeConnectionStatus
NOTIFY snakeConnectionStatusChanged
Q_PROPERTY(int nemoStatus
READ nemoStatus
NOTIFY nemoStatusChanged
)
Q_PROPERTY(QString nemoStatusString
READ nemoStatusString
NOTIFY nemoStatusStringChanged
)
Q_PROPERTY(bool snakeCalcInProgress
READ snakeCalcInProgress
......@@ -224,8 +229,9 @@ public:
// Snake data.
QmlObjectListModel* snakeTiles (void) { return _snakeTiles.QmlObjectListModel();}
QVariantList snakeTileCenterPoints (void) { return _snakeTileCenterPoints;}
QVector<int> nemoProgress (void) { return _nemoProgress.progress();}
long snakeConnectionStatus (void) const;
QVector<int> nemoProgress (void);
int nemoStatus (void) const;
QString nemoStatusString (void) const;
bool snakeCalcInProgress (void) const;
// Smart RTL.
......@@ -303,6 +309,8 @@ signals:
void snakeTilesChanged (void);
void snakeTileCenterPointsChanged (void);
void nemoProgressChanged (void);
void nemoStatusChanged (void);
void nemoStatusStringChanged (void);
private slots:
......@@ -325,11 +333,10 @@ private slots:
void _setPhaseDuration (double duration);
// SMART RTL
void _checkBatteryLevel (void);
QString _checkSmartRTLPreCondition (void);
bool _checkSmartRTLPreCondition (QString &errorString);
void _initSmartRTL ();
void _smartRTLCleanUp (bool flying);
// Snake.
void _setSnakeConnectionStatus (SnakeConnectionStatus status);
void _setSnakeCalcInProgress (bool inProgress);
bool _isScenarioDefined (void);
bool _isScenarioDefinedErrorMessage (void);
......@@ -343,6 +350,7 @@ private slots:
void _switchWaypointManager(WaypointManager::ManagerBase &manager);
private:
using StatusMap = std::map<int, QString>;
// Snake.
void _progressFromJson (JsonDocUPtr pDoc,
QNemoProgress &progress);
......@@ -397,7 +405,6 @@ private:
// double _phaseDuration; // the phase duration in seconds
// Snake
SnakeConnectionStatus _snakeConnectionStatus;
bool _snakeCalcInProgress;
bool _snakeRecalcNecessary;
bool _scenarioDefinedBool;
......@@ -408,7 +415,10 @@ private:
SnakeTilesLocal _snakeTilesLocal; // tiles local coordinate system
QVariantList _snakeTileCenterPoints;
QNemoProgress _nemoProgress; // measurement progress
QNemoHeartbeat _nemoHeartbeat; // measurement progress
int _fallbackStatus;
ROSBridgePtr _pRosBridge;
static StatusMap _nemoStatusMap;
// Periodic tasks.
QTimer _eventTimer;
......
src/comm/ros_bridge/include/GenericMessages.h
View file @ f391ef7a
......@@ -343,6 +343,29 @@ protected:
typedef GenericProgress<> Progress;
// ==============================================================================
// class Heartbeat
// ==============================================================================
//! @brief C++ representation of nemo_msgs/Heartbeat message
class Heartbeat : public MessageBaseClass{
public:
typedef MessageGroups::HeartbeatGroup Group;
Heartbeat(){}
Heartbeat(int status) :_status(status){}
Heartbeat(const Heartbeat &heartbeat) :_status(heartbeat.status()){}
~Heartbeat() = default;
virtual Heartbeat *Clone() const override { return new Heartbeat(*this); }
virtual int status (void)const {return _status;}
virtual void setStatus (int status) {_status = status;}
protected:
int _status;
};
typedef GenericProgress<> Progress;
} // namespace NemoMsgs
} // namespace GenericMessages
} // namespace ROSBridge
src/comm/ros_bridge/include/JsonFactory.h
View file @ f391ef7a
......@@ -186,6 +186,20 @@ private:
return doc;
}
// ===========================================================================
// HeartbeatGroup
// ===========================================================================
template<class U>
rapidjson::Document *_create(const U &msg, Type2Type<MessageGroups::HeartbeatGroup>){
using namespace ROSBridge;
rapidjson::Document *doc = new rapidjson::Document(rapidjson::kObjectType);
bool ret = JsonMethodes::NemoMsgs::Heartbeat::toJson(msg, *doc, doc->GetAllocator());
assert(ret);
(void)ret;
return doc;
}
};
class StdHeaderPolicy
......
src/comm/ros_bridge/include/JsonMethodes.h
View file @ f391ef7a
......@@ -643,7 +643,7 @@ namespace Progress {
{
rapidjson::Value progressJson(rapidjson::kArrayType);
for(unsigned long i=0; i < std::uint64_t(p.progress().size()); ++i){
progressJson.PushBack(rapidjson::Value().SetInt(std::int8_t(p.progress()[i])), allocator);
progressJson.PushBack(rapidjson::Value().SetInt(std::int32_t(p.progress()[i])), allocator);
}
value.AddMember("progress", progressJson, allocator);
return true;
......@@ -662,10 +662,32 @@ namespace Progress {
p.progress().clear();
p.progress().reserve(sz);
for (unsigned long i=0; i < sz; ++i)
p.progress().push_back(std::int8_t(jsonProgress[i].GetInt()));
p.progress().push_back(std::int32_t(jsonProgress[i].GetInt()));
return true;
}
} // namespace Progress
//! @brief Namespace containing methodes for nemo_msgs/Heartbeat generation.
namespace Heartbeat {
template <class HeartbeatType>
bool toJson(const HeartbeatType &heartbeat, rapidjson::Value &value, rapidjson::Document::AllocatorType &allocator)
{
value.AddMember("status", std::int32_t(heartbeat.status()), allocator);
return true;
}
template <class HeartbeatType>
bool fromJson(const rapidjson::Value &value, HeartbeatType &heartbeat)
{
if (!value.HasMember("status") || !value["status"].IsInt()){
assert(false);
return false;
}
heartbeat.setStatus(value["status"].GetInt());
return true;
}
} // namespace Heartbeat
} // namespace NemoMsgs
} // namespace JsonMethodes
} // namespace ROSBridge
......
src/comm/ros_bridge/include/MessageGroups.h
View file @ f391ef7a
......@@ -98,11 +98,15 @@ struct NemoMsgs {
//!
//! \brief The ProgressGroup struct is used the mark a class as a ROS nemo_msgs/Progress message.
//!
//! The ProgressGroup struct is used the mark a class as a ROS nemo_msgs/Progress message.
struct ProgressGroup {
static StringType label() {return "Progress";}
};
//!
//! \brief The HeartbeatGroup struct is used the mark a class as a ROS nemo_msgs/Heartbeat message.
struct HeartbeatGroup {
static StringType label() {return "Heartbeat";}
};
};
......@@ -134,6 +138,10 @@ typedef MessageGroups::MessageGroup<MessageGroups::NemoMsgs,
MessageGroups::NemoMsgs::ProgressGroup>
ProgressGroup;
typedef MessageGroups::MessageGroup<MessageGroups::NemoMsgs,
MessageGroups::NemoMsgs::HeartbeatGroup>
HeartbeatGroup;
} // end namespace MessageGroups
} // end namespace ros_bridge
src/comm/ros_bridge/include/TypeFactory.h
View file @ f391ef7a
......@@ -120,6 +120,17 @@ private:
return ret;
}
// ===========================================================================
// HeartbeatGroup
// ===========================================================================
template<class U>
bool _create(const rapidjson::Document &doc, U &type, Type2Type<MessageGroups::HeartbeatGroup>){
using namespace ROSBridge;
bool ret = JsonMethodes::NemoMsgs::Heartbeat::fromJson(doc, type);
assert(ret);
return ret;
}
};
......
src/comm/utilities.h
View file @ f391ef7a
......@@ -21,25 +21,25 @@ public:
//!
//! \brief EventTicker Constructor used for initilization. The function \fn must not be called if this constructor is used.
//! \param timerInterval The timer interval of the timer provided by the user.
//! \param tickInterval The thick intervall (timerInterval <= tickInterval), see \fn ready().
//! \param targetTime The thick intervall (timerInterval <= targetTime), see \fn ready().
//!
EventTicker(double timerInterval, double tickInterval) {
EventTicker(double timerInterval, double targetTime) {
_isInitialized = false;
init(timerInterval, tickInterval);
init(timerInterval, targetTime);
}
//!
//! \brief init Used to init the EventTicker.
//! \param timerInterval The timer interval of the timer provided by the user.
//! \param tickInterval The thick intervall (timerInterval <= tickInterval), see \fn ready().
//! \param targetTime The thick intervall (timerInterval <= targetTime), see \fn ready().
//!
void init(double timerInterval, double tickInterval){
void init(double timerInterval, double targetTime){
assert(_isInitialized == false);
assert(timerInterval > 0);
assert(tickInterval >= timerInterval);
assert(targetTime >= timerInterval);
_timerInterval = timerInterval;
_tickInerval = tickInterval;
_tickCount = 0;
_targetTime = targetTime;
_ticks = 0;
_isInitialized = true;
}
......@@ -48,22 +48,28 @@ public:
//! \return True if the event is ready to be executed, false either.
//!
//! This function must be called by a user provided timer interrupt handler. A internal counter increases with every call.
//! If _tickInerval <= _timerInterval*_tickCount the counter gets reset and the function returns true. If the condition is not
//! If _targetTime <= _timerInterval*_ticks the counter gets reset and the function returns true. If the condition is not
//! met the function returns false.
//!
bool ready(void) {
assert(_isInitialized == true);
_tickCount++;
bool ready = _tickInerval <= _timerInterval*_tickCount;
_ticks++;
bool ready = _targetTime <= _timerInterval*_ticks;
if (ready)
_tickCount = 0;
_ticks = 0;
return ready;
}
//!
//! \brief Resets the tick count.
void reset(void) {
_ticks = 0;
}
private:
double _timerInterval;
double _tickInerval;
unsigned long _tickCount;
double _targetTime;
unsigned long _ticks;
bool _isInitialized;
};
......
Markdown is supported
0% or
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment