From 05cd96d2b221b09ddf62e9ff3ddbaac5e280b8d3 Mon Sep 17 00:00:00 2001
From: RobertPatzke <robert.patzke@mfp-portal.de>
Date: Mon, 7 Nov 2022 08:01:35 +0100
Subject: [PATCH] Update 20221107-1
---
libraries/ProcMeas/ProcMeas.cpp | 97 +++++++++++++++++++++++++++++
libraries/ProcMeas/ProcMeas.h | 106 ++++++++++++++++++++++++++++++++
2 files changed, 203 insertions(+)
create mode 100644 libraries/ProcMeas/ProcMeas.cpp
create mode 100644 libraries/ProcMeas/ProcMeas.h
diff --git a/libraries/ProcMeas/ProcMeas.cpp b/libraries/ProcMeas/ProcMeas.cpp
new file mode 100644
index 0000000..bd0fd7e
--- /dev/null
+++ b/libraries/ProcMeas/ProcMeas.cpp
@@ -0,0 +1,97 @@
+//-----------------------------------------------------------------------------
+// Thema: Social Manufacturing Network / Process Measurements
+// Datei: ProcMeas.cpp
+// Editor: Robert Patzke
+// URI/URL: www.mfp-portal.de
+//-----------------------------------------------------------------------------
+// Lizenz: CC-BY-SA (siehe Wikipedia: Creative Commons)
+//
+
+#include "ProcMeas.h"
+
+// ---------------------------------------------------------------------------
+// Konstruktoren und Initialisierungen
+// ---------------------------------------------------------------------------
+//
+ProcMeas::ProcMeas(IntrfMeas *measPtr)
+{
+ pMeas = measPtr;
+ gravAnglesAvail = false;
+ pmState = pmInit;
+ gravSigns = 0;
+#ifdef ProcMeasDebug
+ memset(&statistics,0,sizeof(Statistics));
+#endif
+};
+
+// ---------------------------------------------------------------------------
+// Anwenderfunktionen
+// ---------------------------------------------------------------------------
+//
+
+void ProcMeas::run()
+{
+ if(pMeas == NULL) return;
+
+ switch(pmState)
+ {
+ case pmInit:
+#ifdef ProcMeasDebug
+ statistics.pmInitCnt++;
+#endif
+ pmState = pmWait;
+ break;
+
+ case pmWait:
+#ifdef ProcMeasDebug
+ statistics.pmWaitCnt++;
+#endif
+ if(pMeas->available(1, 1))
+ {
+ pMeas->getValues(1, 1, &gravAngles);
+ gravSigns = pMeas->getSigns(1, 1);
+ pmState = pmCalc;
+ }
+ break;
+
+ case pmCalc:
+#ifdef ProcMeasDebug
+ statistics.pmCalcCnt++;
+#endif
+ posture.pitch = euler.getPitchFromGravity(gravAngles.x, gravAngles.y, gravAngles.z) * RAD_TO_DEG;
+ posture.roll = euler.getRollFromGravity(gravAngles.y, gravAngles.z) * RAD_TO_DEG;
+ posture.yaw = 0.0;
+ pMeas->sync(1, 1);
+ gravAnglesAvail = true;
+ pmState = pmWait;
+ break;
+ }
+}
+
+bool ProcMeas::availAngles(bool reset)
+{
+ if(!gravAnglesAvail) return(false);
+ if(reset) gravAnglesAvail = false;
+ return(true);
+}
+
+float ProcMeas::getRollValue()
+{
+ return(posture.roll);
+}
+
+float ProcMeas::getPitchValue()
+{
+ return(posture.pitch);
+}
+
+float ProcMeas::getYawValue()
+{
+ return(posture.yaw);
+}
+
+byte ProcMeas::getGravSigns()
+{
+ return(gravSigns);
+}
+
diff --git a/libraries/ProcMeas/ProcMeas.h b/libraries/ProcMeas/ProcMeas.h
new file mode 100644
index 0000000..e0b14eb
--- /dev/null
+++ b/libraries/ProcMeas/ProcMeas.h
@@ -0,0 +1,106 @@
+//-----------------------------------------------------------------------------
+// Thema: Social Manufacturing Network / Process Measurements
+// Datei: ProcMeas.h
+// Editor: Robert Patzke
+// URI/URL: www.mfp-portal.de
+//-----------------------------------------------------------------------------
+// Lizenz: CC-BY-SA (siehe Wikipedia: Creative Commons)
+//
+#ifndef _ProcMeas_h
+#define _ProcMeas_h
+//-----------------------------------------------------------------------------
+
+#include <stddef.h>
+#include <string.h>
+#include "arduinoDefs.h"
+#include "IntrfMeas.h"
+#include "EulerAngles.h"
+
+//#define ProcMeasDebug
+
+typedef enum _PmState
+{
+ pmInit,
+ pmWait,
+ pmCalc
+} PmState;
+
+typedef struct _Posture
+{
+ float roll;
+ float pitch;
+ float yaw;
+}Posture, *PosturePtr;
+
+// ---------------------------------------------------------------------------
+// class ProcMeas
+// ---------------------------------------------------------------------------
+//
+class ProcMeas
+{
+ // -------------------------------------------------------------------------
+ // Klassenspezifische Datentypen
+ // -------------------------------------------------------------------------
+ //
+#ifdef ProcMeasDebug
+ typedef struct _Statistics
+ {
+ dword pmInitCnt;
+ dword pmWaitCnt;
+ dword pmCalcCnt;
+ } Statistics, *StatisticsPtr;
+#endif
+
+private:
+ // -------------------------------------------------------------------------
+ // Lokale Variablen
+ // -------------------------------------------------------------------------
+ //
+ bool gravAnglesAvail;
+ IntrfMeas *pMeas;
+ TriFloat gravAngles;
+ byte gravSigns;
+ PmState pmState;
+ EulerAngles euler;
+ Posture posture;
+
+private:
+ // -------------------------------------------------------------------------
+ // Lokale Funktionen
+ // -------------------------------------------------------------------------
+ //
+
+public:
+ // -------------------------------------------------------------------------
+ // Konstruktoren und Initialisierungen
+ // -------------------------------------------------------------------------
+ //
+ ProcMeas(IntrfMeas *measPtr);
+
+ // -------------------------------------------------------------------------
+ // Anwenderfunktionen
+ // -------------------------------------------------------------------------
+ //
+ void run();
+ bool availAngles(bool reset);
+ float getRollValue();
+ float getPitchValue();
+ float getYawValue();
+ byte getGravSigns();
+
+ // -------------------------------------------------------------------------
+ // Debug-Funtionen
+ // -------------------------------------------------------------------------
+ //
+#ifdef ProcMeasDebug
+ Statistics statistics;
+
+#endif
+
+
+
+};
+
+//-----------------------------------------------------------------------------
+#endif // _ProcMeas_h
+
--
GitLab