Update 20221107-1

libraries/ProcMeas/ProcMeas.cpp

+//-----------------------------------------------------------------------------
+// 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);
+}
+

libraries/ProcMeas/ProcMeas.h

+//-----------------------------------------------------------------------------
+// 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
+