From: Mikko Rasa <tdb@tdb.fi>
Date: Tue, 1 Apr 2014 18:25:15 +0000 (+0300)
Subject: Add voltage and current monitoring task to ArduControl
X-Git-Url: http://git.tdb.fi/?a=commitdiff_plain;h=1e655686513ef60e1972fc9ca9bcf7b434a09e40;p=r2c2.git

Add voltage and current monitoring task to ArduControl

It's not used for anything yet, bit will be soon.
---

diff --git a/source/libr2c2/arducontrol.cpp b/source/libr2c2/arducontrol.cpp
index 3d2d39b..dbe3013 100644
--- a/source/libr2c2/arducontrol.cpp
+++ b/source/libr2c2/arducontrol.cpp
@@ -906,10 +906,58 @@ bool ArduControl::MfxSearchTask::pop_info(MfxInfo &info)
 }
 
 
+ArduControl::MonitorTask::MonitorTask():
+	voltage(0),
+	current(0),
+	base_level(0),
+	peak_level(0),
+	next_type(0)
+{ }
+
+bool ArduControl::MonitorTask::get_work(PendingCommand &cmd)
+{
+	Time::TimeStamp t = Time::now();
+	if(t<next_poll)
+		return false;
+
+	if(next_type==0)
+		cmd.command[0] = READ_INPUT_VOLTAGE;
+	else
+		cmd.command[0] = READ_TRACK_CURRENT;
+	cmd.length = 1;
+
+	next_poll = t+200*Time::msec;
+	next_type = (next_type+1)%5;
+
+	return true;
+}
+
+void ArduControl::MonitorTask::process_reply(const char *reply, unsigned length)
+{
+	unsigned char type = reply[0];
+	if(type==INPUT_VOLTAGE && length==3)
+		voltage = ((static_cast<unsigned char>(reply[1])<<8) | static_cast<unsigned char>(reply[2]))/1000.0f;
+	else if(type==TRACK_CURRENT && length==5)
+	{
+		current = ((static_cast<unsigned char>(reply[1])<<8) | static_cast<unsigned char>(reply[2]))/1000.0f;
+		float peak = ((static_cast<unsigned char>(reply[3])<<8) | static_cast<unsigned char>(reply[4]))/1000.0f;
+		peak_level = max(peak_level, peak);
+		base_level = min(base_level, current);
+	}
+}
+
+void ArduControl::MonitorTask::reset_peak()
+{
+	base_level = current;
+	peak_level = current;
+}
+
+
 ArduControl::ControlThread::ControlThread(ArduControl &c):
 	control(c),
 	done(false)
 {
+	tasks.push_back(&control.monitor);
 	tasks.push_back(&control.mfx_announce);
 	tasks.push_back(&control.mfx_search);
 	tasks.push_back(&control.s88);
diff --git a/source/libr2c2/arducontrol.h b/source/libr2c2/arducontrol.h
index 75b9dc8..5552809 100644
--- a/source/libr2c2/arducontrol.h
+++ b/source/libr2c2/arducontrol.h
@@ -317,6 +317,28 @@ private:
 		bool pop_info(MfxInfo &);
 	};
 
+	class MonitorTask: public Task
+	{
+	private:
+		float voltage;
+		float current;
+		float base_level;
+		float peak_level;
+		Msp::Time::TimeStamp next_poll;
+		unsigned next_type;
+
+	public:
+		MonitorTask();
+
+		virtual bool get_work(PendingCommand &);
+		virtual void process_reply(const char *, unsigned);
+
+		float get_voltage() const { return voltage; }
+		float get_current() const { return current; }
+		void reset_peak();
+		float get_peak() const { return peak_level-base_level; }
+	};
+
 	class ControlThread: public Msp::Thread
 	{
 	private:
@@ -365,6 +387,7 @@ private:
 	S88Task s88;
 	MfxAnnounceTask mfx_announce;
 	MfxSearchTask mfx_search;
+	MonitorTask monitor;
 	ControlThread thread;
 
 	static ProtocolInfo protocol_info[2];