quadro::analog::LVMaxSonarEZ Class Reference

#include <LVMaxSonarEZ.h>

Inheritance diagram for quadro::analog::LVMaxSonarEZ:

Public Types
enum	deviceMode { Inches = 0, Cm = 1 }
enum	deviceStatus { On = 1, Off = 0, Error = 2 }
Public Types inherited from quadro::analog::analogBase
enum	analogPort {   PORT0 = 0, PORT1 = 1, PORT2 = 2, PORT3 = 3,   PORT4 = 4, PORT5 = 5, PORT6 = 6 }

Public Member Functions
	LVMaxSonarEZ ()
int	start ()
int	stop ()
double	getDistance ()
	Storage of the timer for the sensors main thread, based on the data rate of the sensor. More...
void	setMode (deviceMode _mode)
int	getStatus ()
void	setStatus (deviceStatus _status)
Public Member Functions inherited from quadro::analog::analogBase
	~analogBase ()
	analogBase ()
int	getCurrentReading ()
void	setDevicePort (analogPort _AP)
Public Member Functions inherited from quadro::IDevice
virtual	~IDevice ()

Public Attributes
__useconds_t	dataTimer = SONIC_DATATIMER
deviceMode	currentMode

Member Enumeration Documentation

enum quadro::analog::LVMaxSonarEZ::deviceMode

Select a deviceMode, changes the returned distance value to the selected type.

Enumerator
Inches
Cm

                            {
                Inches = 0,
                Cm = 1
            };

enum enum quadro::analog::LVMaxSonarEZ::deviceStatus

Stores the current deviceStatus for easy reference fro other objects

Enumerator
On	Status On (thread is active)
Off	Status Off (thread is disabled)
Error	Status Error (thread is disabled)

                              {
                On = 1, 
                Off = 0, 
                Error = 2 
            };

Constructor & Destructor Documentation

LVMaxSonarEZ::LVMaxSonarEZ

(

)

Class constructor - by default this constructor sets the height mode to CM and the devices status to off.

See also

start() for initialising the sensors main thread.

{
    //Set device startup settings
    setMode( deviceMode::Cm );
    setStatus( deviceStatus::Off );
}

Member Function Documentation

double LVMaxSonarEZ::getDistance

(

)

Storage of the timer for the sensors main thread, based on the data rate of the sensor.

This method provides access to the private calculate distance result.

Returns

double

{
    return convertReadingToDistance( reading );
}

int LVMaxSonarEZ::getStatus

(

)

getStatus returns the current status of the sensor

Returns

int

{
    return currentStatus;
}

void LVMaxSonarEZ::setMode

(

deviceMode

_mode

)

setMode allows the mode of the sensor to be changed to one of the values set in deviceModes

Parameters

_mode

{
    currentMode = _mode;
}

void LVMaxSonarEZ::setStatus

(

deviceStatus

_status

)

setStatus allows the status of the sensor to be changed to one of the values set in deviceStatus

Parameters

_status

{
    currentStatus = _status;
}

int LVMaxSonarEZ::start

(

)

start() - Allows the independent control to start the thread that updates the Sonic Sensor readings.

Parameters

none

Exceptions

analogSetupException

Returns

int deviceStatus : 1 = on, 0 = off or 2 = error

{

    //pthread_create doesn't throw an exception, only returns error codes - these are handled below.
    threadRet = pthread_create( &threadHandle, NULL, LVMaxSonarEZ::runMainSensorUpdateThread, this );

    //Thread returned 0 (Success Code)
    if ( threadRet != 0 ) {
        //The sonic sensor thread failed, set the status to "Error" and throw an appropriate exception.
        setStatus( deviceStatus::Error );
        if ( threadRet == EAGAIN ) {
            //Failed because of resource unavailability, try once more and then throw an exception on failure
            threadRet = pthread_create( &threadHandle, NULL, LVMaxSonarEZ::runMainSensorUpdateThread, this );
            if ( threadRet != 0 ) {
                throw new analogSetupException(
                        "(LVMaxSonarEZ) " + analog::THREAD_FATAL + " : errorNumber = "
                                + to_string( threadRet ) );
            }
        }
        else if ( threadRet == EPERM ) {
            //Thread creation failed because of invalid permissions on the system to create threads.
            throw new analogSetupException(
                    "(LVMaxSonarEZ) " + analog::THREAD_PERMISSIONS + " : errorNumber = " + to_string( threadRet ) );
        }
        else if ( threadRet == EINVAL ) {
            //Thread creation failed because the argument used is invalid.
            throw new analogSetupException(
                    "(LVMaxSonarEZ) " + analog::THREAD_INVALID_ARG + " : errorNumber = " + to_string( threadRet ) );
        }
        else {
            //An unknown error occurred - unknown error code.
            throw new analogSetupException(
                    "(LVMaxSonarEZ) " + analog::THREAD_UNKNOWN + " : errorNumber = " + to_string( threadRet ) );
        }
    }

    //The thread started correctly, so set the status of the Sonic Sensor to "On".
    setStatus( deviceStatus::On );

    //return the device status - realistically it should always be "On" if we get this far...
    return getStatus();

}

int LVMaxSonarEZ::stop

(

)

stop() - Allows the independent control to stop the current thread.

Parameters

none

Exceptions

analogRuntimeException

Returns

enum deviceStatus : 1 = on, 0 = off or 2 = error

{
    //pthread_cancel doesn't throw an exception, only returns error codes - these are handled below.
    threadRet = pthread_cancel( threadHandle );

    if ( threadRet != 0 ) {
        //The sonic sensor thread cancellation failed, set the status to "Error" and throw an appropriate exception.
        setStatus( deviceStatus::Error );
        if ( threadRet == ESRCH ) {
            //Unable to locate process to cancel.
            throw new analogRuntimeException( THREAD_CANCELLATION_FAILURE );
        }
        else {
            //An unknown error occurred - unknown error code.
            throw new analogRuntimeException( THREAD_CANCELLATION_UNKNOWN );
        }
    }

    //The thread was cancelled successfully - set the device status to "Off".
    setStatus( deviceStatus::Off );

    return getStatus();

}

Member Data Documentation

deviceMode quadro::analog::LVMaxSonarEZ::currentMode

__useconds_t quadro::analog::LVMaxSonarEZ::dataTimer = SONIC_DATATIMER

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The documentation for this class was generated from the following files:

• /Users/michaelbrookes/ClionProjects/Quadro/lib/analog/devices/LVMaxSonarEZ/LVMaxSonarEZ.h
• /Users/michaelbrookes/ClionProjects/Quadro/lib/analog/devices/LVMaxSonarEZ/LVMaxSonarEZ.cpp