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 3d2d39b1a0b2aca8c13e8018a21f189ecbd975cd..dbe3013ddd9e5f057d1733e65f2340bc6ecb35c4 100644 (file)
--- 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 75b9dc8cb8f4d283e4b0e0aa3b775192fa1357d4..555280985767a7e37ea512607a0337359ac11618 100644 (file)
--- 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];