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111 lines
3.8 KiB
C++
111 lines
3.8 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. All Rights Reserved.
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*/
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include "SensorBase.h"
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#include "Counter.h"
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#include "Task.h"
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#include "PIDSource.h"
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#include "LiveWindow/LiveWindowSendable.h"
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#include <atomic>
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#include "HAL/cpp/priority_mutex.h"
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#include <memory>
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class DigitalInput;
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class DigitalOutput;
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/**
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* Ultrasonic rangefinder class.
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* The Ultrasonic rangefinder measures absolute distance based on the round-trip
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* time
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* of a ping generated by the controller. These sensors use two transducers, a
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* speaker and
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* a microphone both tuned to the ultrasonic range. A common ultrasonic sensor,
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* the Daventech SRF04
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* requires a short pulse to be generated on a digital channel. This causes the
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* chirp to be
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* emmitted. A second line becomes high as the ping is transmitted and goes low
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* when
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* the echo is received. The time that the line is high determines the round
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* trip distance
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* (time of flight).
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*/
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class Ultrasonic : public SensorBase,
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public PIDSource,
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public LiveWindowSendable {
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public:
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enum DistanceUnit { kInches = 0, kMilliMeters = 1 };
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DEPRECATED(
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"Raw pointers are deprecated; prefer either specifying the channel "
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"numbers as integers or passing shared_ptrs.")
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Ultrasonic(DigitalOutput *pingChannel, DigitalInput *echoChannel,
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DistanceUnit units = kInches);
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DEPRECATED(
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"References are deprecated; prefer either specifying the channel numbers "
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"as integers or passing shared_ptrs.")
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Ultrasonic(DigitalOutput &pingChannel, DigitalInput &echoChannel,
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DistanceUnit units = kInches);
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Ultrasonic(std::shared_ptr<DigitalOutput> pingChannel,
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std::shared_ptr<DigitalInput> echoChannel,
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DistanceUnit units = kInches);
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Ultrasonic(uint32_t pingChannel, uint32_t echoChannel,
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DistanceUnit units = kInches);
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virtual ~Ultrasonic();
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void Ping();
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bool IsRangeValid() const;
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static void SetAutomaticMode(bool enabling);
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double GetRangeInches() const;
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double GetRangeMM() const;
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bool IsEnabled() const { return m_enabled; }
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void SetEnabled(bool enable) { m_enabled = enable; }
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double PIDGet() override;
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void SetPIDSourceType(PIDSourceType pidSource) override;
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void SetDistanceUnits(DistanceUnit units);
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DistanceUnit GetDistanceUnits() const;
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void UpdateTable() override;
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void StartLiveWindowMode() override;
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void StopLiveWindowMode() override;
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std::string GetSmartDashboardType() const override;
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void InitTable(std::shared_ptr<ITable> subTable) override;
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std::shared_ptr<ITable> GetTable() const override;
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private:
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void Initialize();
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static void UltrasonicChecker();
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static constexpr double kPingTime =
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10 * 1e-6; ///< Time (sec) for the ping trigger pulse.
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static const uint32_t kPriority =
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64; ///< Priority that the ultrasonic round robin task runs.
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static constexpr double kMaxUltrasonicTime =
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0.1; ///< Max time (ms) between readings.
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static constexpr double kSpeedOfSoundInchesPerSec = 1130.0 * 12.0;
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static Task m_task; // task doing the round-robin automatic sensing
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static Ultrasonic *m_firstSensor; // head of the ultrasonic sensor list
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static std::atomic<bool> m_automaticEnabled; // automatic round robin mode
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static priority_mutex m_mutex; // synchronize access to the list of sensors
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std::shared_ptr<DigitalOutput> m_pingChannel;
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std::shared_ptr<DigitalInput> m_echoChannel;
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bool m_enabled = false;
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Counter m_counter;
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Ultrasonic *m_nextSensor;
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DistanceUnit m_units;
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std::shared_ptr<ITable> m_table;
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};
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