Actuator API, Braking Solenoid Class (#20)

JLefebvre55 · web-flow · commit f72ea351127e · 2021-07-15T17:39:25.000-04:00
diff --git a/Actuator.cpp b/Actuator.cpp
@@ -0,0 +1,40 @@
+#include "Arduino.h"
+#include "Actuator.h"
+
+Actuator::Actuator(actuators_t actuator, arduino_t arduino, float failtarget){
+    this->actuator = actuator;
+    this->arduino = arduino;
+    state.error = ERR_NONE;
+    state.debug = DS_DISABLED;
+    state.target = this->failtarget = failtarget; // Default start target
+}
+
+ActuatorState* Actuator::update(){
+    if(state.error < ERR_FAIL && state.debug >= DS_INIT){
+        state.error = set(state.target);
+
+        switch(state.error){
+            case ERR_NONE:  //Success!
+                state.debug = DS_SUCCESS;
+                break;
+            case ERR_WARN:  //Set didn't go as planned, non-fatal
+                // DO NOT UPDATE STATE VALUES
+                break;
+            case ERR_FAIL:  //Set failed catastrophically
+                state.debug = DS_DISABLED;
+                set(failtarget);
+                break;
+        }
+    }
+    return &state;
+}
+
+ActuatorState* Actuator::begin(){
+    state.error = init();
+    if(state.error > ERR_NONE){
+        state.debug = DS_DISABLED;
+    } else {
+        state.debug = DS_INIT;
+    }
+    return &state;
+}
diff --git a/Actuator.h b/Actuator.h
@@ -0,0 +1,32 @@
+#ifndef Actuator_H
+#define Actuator_H
+
+#include "Base.h"
+
+// Actuator identifiers
+typedef enum actuators_t {
+  A_BRAKES,
+  A_INVERTER
+} actuators_t;
+
+typedef struct ActuatorState {
+  errorlevel_t error;
+  debuglevel_t debug;
+  float target;
+} ActuatorState;
+
+class Actuator{
+  protected:
+    virtual errorlevel_t set(float target) = 0;
+    virtual errorlevel_t init() = 0;
+    ActuatorState state;
+  public:
+    arduino_t arduino;
+    actuators_t actuator;
+    float failtarget;       // what should we default to in case of failure?
+    Actuator(actuators_t actuator, arduino_t arduino, float failtarget);
+    ActuatorState* update();
+    ActuatorState* begin();
+};
+
+#endif 
diff --git a/Base.h b/Base.h
@@ -0,0 +1,32 @@
+#ifndef BASE_H
+#define BASE_H
+
+#include "Arduino.h"
+#include "stdlib.h"
+
+// Arduino identifiers
+typedef enum arduino_t {
+  ARDUINO_ONE,
+  ARDUINO_TWO,
+  ARDUINO_THREE
+} arduino_t;
+
+// Degree of error occurred
+// TODO: Maybe add more specific codes? (i.e. hardware/wiring fail, comms/protocol fail, etc.)
+typedef enum errorlevel_t {
+  ERR_NONE,
+  ERR_WARN,
+  ERR_FAIL  //NOTE: Implies debug level 'DISABLED'
+} errorlevel_t;
+
+// General state - On fail != 0, what state did it last complete successfully?
+typedef enum debuglevel_t {
+  //NOTE: The various debug states imply the value of cache.state.data as follows:
+  DS_DISABLED,     //NULL
+  DS_INIT,         //NULL
+  // DS_CALIBRATING,  //NULL if first time, otherwise unknown
+  DS_WAITING,      //NOT NULL, age > 0
+  DS_SUCCESS          //NOT NULL, age == 0
+} debuglevel_t;
+
+#endif
diff --git a/Brakes/README.md b/Brakes/README.md
@@ -0,0 +1,3 @@
+# Brakes
+
+Engages brakes via digital output control of a MOSFET driving a solenoid (NORMALLY OPEN, i.e. engaged = digital low). Once engaged, brakes do not disengage. Fails to engaged.
diff --git a/Brakes/src/Brakes.cpp b/Brakes/src/Brakes.cpp
@@ -0,0 +1,16 @@
+#include "Brakes.h"
+#include "Actuator.h"
+
+Brakes::Brakes(uint8_t pin, arduino_t arduino) : Actuator(A_BRAKES, arduino, 1.0) {
+    this->pin = pin;
+    this->engaged = false;
+}
+
+errorlevel_t Brakes::init() {
+    pinMode(pin, OUTPUT);
+}
+
+errorlevel_t Brakes::set(float target) {
+    engaged |= (target != 0); //If engaged is true already, target doesn't matter (stay engaged)
+    digitalWrite(pin, !engaged); // Engaged = digital low
+}
diff --git a/Brakes/src/Brakes.h b/Brakes/src/Brakes.h
@@ -0,0 +1,15 @@
+#ifndef BRAKES_H
+#define BRAKES_H
+
+#include "Actuator.h"
+class Brakes : public Actuator {
+    public:
+        Brakes(uint8_t pin, arduino_t arduino);
+    private:
+        errorlevel_t set(float target) override;
+        errorlevel_t init() override;
+        uint8_t pin;
+        bool engaged = false; //Toggle-ON latch boolean (can only be turned ON)
+};
+
+#endif
diff --git a/Sensor.cpp b/Sensor.cpp
@@ -59,7 +59,7 @@ SensorState* Sensor::update(){
 
             switch(state.error){
                 case ERR_NONE:  //Success!
-                    state.debug = DS_NEWREAD;
+                    state.debug = DS_SUCCESS;
                     state.timestamp = lastread;
                     free(state.data);
                     state.data = buffer;
diff --git a/Sensor.h b/Sensor.h
@@ -1,8 +1,7 @@
 #ifndef Sensor_H
 #define Sensor_H
 
-#include "Arduino.h"
-#include "stdlib.h"
+#include "Base.h"
 
 // Sensor identifiers
 typedef enum sensors_t {
@@ -17,43 +16,6 @@ typedef enum sensors_t {
   S_CANBUS
 } sensors_t;
 
-// Arduino identifiers
-typedef enum arduino_t {
-  ARDUINO_ONE,
-  ARDUINO_TWO,
-  ARDUINO_THREE
-} arduino_t;
-
-// Degree of error occurred
-// TODO: Maybe add more specific codes? (i.e. hardware/wiring fail, comms/protocol fail, etc.)
-typedef enum errorlevel_t {
-  ERR_NONE,
-  ERR_WARN,
-  ERR_FAIL  //NOTE: Implies debug level 'DISABLED'
-} errorlevel_t;
-
-// General state - On fail != 0, what state did it last complete successfully?
-typedef enum debuglevel_t {
-  //NOTE: The various debug states imply the value of cache.state.data as follows:
-  DS_DISABLED,     //NULL
-  DS_INIT,         //NULL
-  // DS_CALIBRATING,  //NULL if first time, otherwise unknown
-  DS_WAITING,      //NOT NULL, age > 0
-  DS_NEWREAD          //NOT NULL, age == 0
-} debuglevel_t;
-
-// Unimplemented for now...
-// typedef struct SensorError {
-//   errorlevel_t error,
-//   char* msg,
-//   uint8_t msglen
-// } SensorError;
-// typedef struct SensorDebug {
-//   debuglevel_t debug,
-//   char* msg,
-//   uint8_t msglen
-// } SensorError;
-
 // Single datapoint
 typedef struct t_datum {
   float data;
diff --git a/Template.ino b/Template.ino
@@ -1,13 +1,20 @@
 // Headers for each sensor type
 #include "YourSensorClass.h" 
 //...
+#include "YourActuatorClass.h"
 
+#include "Base.h"
 #include "Sensor.h"
+#include "Actuator.h"
 #define NUMSENSORS 1 //Or however many
+#define NUMACTUATORS 1 //Or however many
 #define BAUDRATE 115200
+#define THISARDUINO ARDUINO_ONE
 
 // Objects for each sensor
-SensorClass sensor(/*Arguments, arduino enum*/); 
+SensorClass sensor(/*Arguments, ...*/, THISARDUINO); 
+//...
+ActuatorClass actuator(/*Arguments, arduino enum*/, THISARDUINO); 
 //...
 
 Sensor* sensors[NUMSENSORS] = {
@@ -16,6 +23,12 @@ Sensor* sensors[NUMSENSORS] = {
     //...
 };
 
+Actuator* actuators[NUMACTUATORS] = {
+    // Entry for each sensor object
+    &actuator, 
+    //...
+};
+
 // !#!#!#!--- EVERYTHING AFTER HERE DOES NOT NEED TO BE CHANGED FOR SENSOR IMPLEMENTATION ---!#!#!#!
 
 void setup(){
@@ -37,8 +50,34 @@ void setup(){
         }
         success &= _success;
     }
+    for(int i = 0; i < NUMACTUATORS; i++){
+        ActuatorState* state = actuators[i]->begin();
+        // Print/send sensor post-setup state data here. For example:
+        bool _success = (state->error == ERR_NONE);
+        if(_success){
+            Serial.print("Actuator ");
+            Serial.print(actuators[i]->actuator);
+            Serial.print(" initialized. ");
+
+            state = actuators[i]->update(); // Initial set to default target
+            _success = (state->error == ERR_NONE);
+            if(_success){
+                Serial.print("Set to ");
+                Serial.println(state->target);
+            } else {
+                Serial.print("\nActuator ");
+                Serial.print(sensors[i]->sensor);
+                Serial.println(" failed to set!");
+            }
+        } else {
+            Serial.print("Actuator ");
+            Serial.print(sensors[i]->sensor);
+            Serial.println(" failed to initialize!");
+        }
+        success &= _success;
+    }
     if(!success){
-        Serial.println("POST failed on one or more sensors, freezing...");
+        Serial.println("POST failed on one or more devices, freezing...");
         while(1){delay(1000);}
     }
 }
@@ -48,7 +87,7 @@ void loop(){
         SensorState* state = sensors[i]->update();
         // Print/send sensor post-setup state data here. For example:
         bool _success = (state->error == ERR_NONE);
-        bool _new = (state->debug == DS_NEWREAD);
+        bool _new = (state->debug == DS_SUCCESS);
         if(_success && _new){
             Serial.print("Sensor ");
             Serial.print(sensors[i]->sensor);
@@ -66,4 +105,20 @@ void loop(){
             // TODO: Recover failed sensor?
         }
     }
+    for(int i = 0; i < NUMACTUATORS; i++){
+        ActuatorState* state = actuators[i]->update();
+
+        bool _success = (state->error == ERR_NONE) && (state->debug == DS_SUCCESS);
+        if(_success){
+            Serial.print("Actuator ");
+            Serial.print(actuators[i]->actuator);
+            Serial.print(" set success: ");
+            Serial.println(state->target);
+        } else {
+            Serial.print("Actuator ");
+            Serial.print(actuators[i]->actuator);
+            Serial.println(" failed to set!");
+            // TODO: Recover failed sensor?
+        }
+    }
 }

Original file line number	Diff line number	Diff line change
`@@ -0,0 +1,3 @@`
	`1`	`+# Brakes`
	`2`	`+`
	`3`	`+Engages brakes via digital output control of a MOSFET driving a solenoid (NORMALLY OPEN, i.e. engaged = digital low). Once engaged, brakes do not disengage. Fails to engaged.`