SensorSampler.cpp

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/* Copyright (c) 2017-2020 Skyward Experimental Rocketry
 * Authors: Alain Carlucci, Luca Conterio
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in
 * all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 * THE SOFTWARE.
 */
 
#include "SensorSampler.h"
// #include <diagnostic/PrintLogger.h>
 
using namespace std;
 
namespace Boardcore
{
 
SensorSampler::SensorSampler(uint8_t id, std::chrono::nanoseconds period)
    : id(id), period(period)
{
}
 
SensorSampler::~SensorSampler() { sensors.clear(); }
 
bool SensorSampler::compareByPeriod(SensorSampler* left, SensorSampler* right)
{
    return left->getSamplingPeriod() < right->getSamplingPeriod();
}
 
void SensorSampler::toggleSensor(AbstractSensor* sensor, bool isEnabled)
{
    auto elem = std::find_if(sensors.begin(), sensors.end(),
                             [&](std::pair<AbstractSensor*, SensorInfo> s)
                             { return s.first == sensor; });
 
    elem->second.isEnabled = isEnabled;
    LOG_DEBUG(logger, "Sampler {}, toggle Sensor {} ---> enabled = {}", getID(),
              static_cast<void*>(sensor), elem->second.isEnabled);
}
 
void SensorSampler::enableAllSensors()
{
    for (auto& s : sensors)
        s.second.isEnabled = true;
}
 
void SensorSampler::disableAllSensors()
{
    for (auto& s : sensors)
        s.second.isEnabled = false;
}
 
void SensorSampler::sampleAndCallback()
{
    for (auto& s : sensors)
    {
        // Sample only if that sensor is enabled and initialized
        if (s.second.isEnabled && s.second.isInitialized)
        {
            sampleSensor(s.first);
 
            if (s.second.callback)
                s.second.callback();
        }
    }
}
 
uint8_t SensorSampler::getID() { return id; }
 
std::chrono::nanoseconds SensorSampler::getSamplingPeriod() { return period; }
 
unsigned int SensorSampler::getNumSensors() { return sensors.size(); }
 
const SensorInfo SensorSampler::getSensorInfo(AbstractSensor* sensor)
{
    for (auto it = sensors.begin(); it != sensors.end(); ++it)
        if (it->first == sensor)
            return it->second;
 
    LOG_ERR(logger, "Sampler {}: sensor {} not found", this->id,
            static_cast<void*>(sensor));
 
    return SensorInfo{};
}
 
SimpleSensorSampler::SimpleSensorSampler(uint8_t id,
                                         std::chrono::nanoseconds period)
    : SensorSampler(id, period)
{
}
 
SimpleSensorSampler::~SimpleSensorSampler() {}
 
void SimpleSensorSampler::addSensor(AbstractSensor* sensor,
                                    SensorInfo sensorInfo)
{
    sensors.push_back(make_pair(sensor, sensorInfo));
}
 
void SimpleSensorSampler::sampleSensor(AbstractSensor* sensor)
{
    sensor->sample();
}
 
}  // namespace Boardcore