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/* *******************************************************************************************
 * Copyright (c) 2023 by RobotPatient Simulators
 *
 * Authors: Richard Kroesen en Victor Hogeweij
 *
 * 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.
***********************************************************************************************/
#ifndef MEASUREMENT_GRABBER_HPP
#define MEASUREMENT_GRABBER_HPP
#include <FreeRTOS.h>
#include <queue.h>
#include <task.h>
#include <sensor_helper.hpp>
#include <volume_calculations.hpp>
#define dataSizePressureSensor 4

namespace module::measurement_grabber {
inline constexpr uint8_t kSensorPollingTaskStackSize = 150;

typedef struct {
  UniversalSensor* Sensor;
  uint8_t SampleTime;
  xQueueHandle* queue;
} MeasurementGrabberData;

void MeasurementGrabberTask(void* PvParameter) {
  MeasurementGrabberData* Data = (MeasurementGrabberData*)PvParameter;
  SensorData data;
  while (1) {
    if (Data->Sensor != NULL) {
      data = Data->Sensor->GetSensorData();
      static uint16_t lastSampleNum = data.sample_num;
      if (data.sensor_id == TypeDifferentialPressureSensor && data.sample_num == lastSampleNum + 1) {
        data.num_of_bytes = dataSizePressureSensor;
        lastSampleNum = data.sample_num;
        data.buffer[1] = CalculateTotalVolume(data.buffer[0]);
      }
      if (xQueueSend(*(Data->queue), (void*)&data, (TickType_t)10) != pdPASS) {
        /* Failed to post the message, even after 10 ticks. */
      }
      vTaskDelay(Data->SampleTime / portTICK_PERIOD_MS);
    }
  }
}

class MeasurementGrabber {
 public:
  void SetupPollTask(UniversalSensor* Sensor, uint8_t SampleTime, xQueueHandle* queue, xTaskHandle* Task) {
    Data_ = {Sensor, SampleTime, queue};
    SampleTime_ = SampleTime;
    *Task = xTaskCreateStatic(MeasurementGrabberTask,      /* Function that implements the task. */
                              "Measurement grabber task",  /* Text name for the task. */
                              kSensorPollingTaskStackSize, /* Number of indexes in the xStack array. */
                              (void*)&Data_,               /* Parameter passed into the task. */
                              (2 | portPRIVILEGE_BIT),     /* Priority at which the task is created. */
                              xStack,                      /* Array to use as the task's stack. */
                              &xTaskBuffer);               /* Variable to hold the task's data structure. */
    Task_ = Task;
  }
  void SuspendPollingTask() { vTaskSuspend(*Task_); }

  void ResumePollingTask() { vTaskResume(*Task_); }

  void ChangeSensor(UniversalSensor* Sensor) {
    SuspendPollingTask();
    Sensor->Uninitialize();
    Data_.Sensor = Sensor;
  }

  uint8_t GetSampleTime() { return SampleTime_; }

  void SetSampleTime(const uint8_t SampleTime) {
    SampleTime_ = SampleTime;
    SuspendPollingTask();
    Data_.SampleTime = SampleTime;
    ResumePollingTask();
  }

 private:
  uint8_t SampleTime_;
  MeasurementGrabberData Data_;
  xTaskHandle* Task_;
  StaticTask_t xTaskBuffer;
  StackType_t xStack[kSensorPollingTaskStackSize];
};
}  // namespace module::measurement_grabber
#endif