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https://github.com/wpilibsuite/allwpilib
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6d854afb0e
This is a major restructuring of the WPILib repository to simply build procedures and remove the remnants of Maven from everything except the eclipse plugins. Gradle files have been largely simplified or rewritten, taking advantage of splitting up parts of the build into separate build files for ease of reading. The eclipse plugins are now in a separate project, as is ntcore. All dependencies are resolved via Maven dependencies, with the Jenkins-maintained WPILib repo. Project structures have also been simplified: we no longer have separate subprojects inside wpilibc and wpilibj. Where possible, these changes hav been done with git renames, to make sure we still have full history for all repositories. Other unrelated subprojects have also been broken out: OutlineViewer is now a separate project. Change-Id: Ib4e2a6e1a2f66427a14f16612b0e0d69ed661878
112 lines
3.9 KiB
C++
112 lines
3.9 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_allocatedChannels;
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bool m_enabled;
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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 = nullptr;
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};
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