Merge branch 'develop'

sm6yvr · May 3, 2019 · 2999c9c · 2999c9c
2 parents 8699653 + 676a5a2
commit 2999c9c
Show file tree

Hide file tree

Showing 18 changed files with 822 additions and 509 deletions.
diff --git a/.gitignore b/.gitignore
@@ -1,10 +1,13 @@
 Liam/LocalDefinition.h
 .DS_Store
-.vscode
+.vscode/*
 */.vs/
 */__vm/
 */Debug/
 *.sln
 *.vcxproj*
 *.orig
 */Release/*
+node_modules/*
+.browse.VC.db
+yarn.lock
diff --git a/Liam/BWFSensor.cpp b/Liam/BWFSensor.cpp
@@ -41,34 +41,75 @@
 
 #include "BWFSensor.h"
 
-int BWFSENSOR::outside_code[] = {OUTSIDE_BWF, INSIDE_BWF-OUTSIDE_BWF};
-int BWFSENSOR::inside_code[] = {INSIDE_BWF};
+int BWFSENSOR::outside_code[] = {OUTSIDE_BWF, INSIDE_BWF - OUTSIDE_BWF, OUTSIDE_BWF, INSIDE_BWF - OUTSIDE_BWF };
+int BWFSENSOR::inside_code[] = {INSIDE_BWF, INSIDE_BWF};
 
-int currentSensor = 0;
 
 BWFSENSOR::BWFSENSOR(int selA, int selB) {
   selpin_A = selA;
   selpin_B = selB;
 }
 
 
+int BWFSENSOR::getCurrentSensor() {
+  return _currentSensor;
+}
+
+void BWFSENSOR::setup() {
+
+  //select(0);
+}
+
+void BWFSENSOR::selectNext() {
+  if (_manualSensorSelect) {
+    return;
+  }
+  if (signal_status != NOSIGNAL) {
+    //Serial.println("Got signal");
+    select((_currentSensor + 1) % NUMBER_OF_SENSORS);
+    return;
+  }
+
+  if (millis() - lastSwitch > BWF_COLLECT_SIGNAL_TIME) {
+    /*Serial.print(millis());
+    Serial.print(" Signal timout on sensor ");
+    Serial.print(_currentSensor);
+    Serial.println(", switching");*/
+    assignIfNeeded(_currentSensor, NOSIGNAL);
+    select((_currentSensor + 1) % NUMBER_OF_SENSORS);
+  }
+}
+
+void BWFSENSOR::SetManualSensorSelect(bool useManualMode){
+  _manualSensorSelect = useManualMode;
+}
+
 // Select active sensor
 void BWFSENSOR::select(int sensornumber) {
-  if (currentSensor == sensornumber) {
+  //Serial.print("Selecting sensor: ");
+  //Serial.println(sensornumber);
 
+   if (_currentSensor == sensornumber) {
     return;
   }
-  currentSensor = sensornumber;
-
+  _switching = true;
   digitalWrite(selpin_A, (sensornumber & 1) > 0 ? HIGH : LOW);
   digitalWrite(selpin_B, (sensornumber & 2) > 0 ? HIGH : LOW);
+  _currentSensor = sensornumber;
   clearSignal();
-  long time = millis();
-  while (signal_status == NOSIGNAL 
-    && millis() - time < BWF_COLLECT_SIGNAL_TIME) // max time of 200ms
-  {
-    delay(1);
-  }
+  lastSwitch = millis();
+  _switching = false;
+  // Serial.println(_currentSensor);
+  // clearSignal();
+
+  _switching = false;
+
+   //long time = millis();
+   //while (signal_status == NOSIGNAL
+   //  && millis() - time < BWF_COLLECT_SIGNAL_TIME) // max time of 200ms
+   //{
+   //  delay(1);
+   //}
 
   // delay(200);
 }
@@ -78,25 +119,26 @@ void BWFSENSOR::clearSignal() {
   for (int i = 0; i < arr_length; i++)
     arr[i] = 0;
   signal_status = NOSIGNAL;
+  //sensorValue[_currentSensor] = NOSIGNAL;
   pulse_count_inside = 0;
   pulse_count_outside = 0;
   arr_count = 0;
 }
 
 
-bool BWFSENSOR::isInside() {
-  return (signal_status == INSIDE);
+bool BWFSENSOR::isInside(int sensornumber) {
+  return (sensorValue[sensornumber] == INSIDE);
 }
 
-bool BWFSENSOR::isOutside() {
-  return (signal_status == OUTSIDE);
+bool BWFSENSOR::isOutside(int sensornumber) {
+  return (sensorValue[sensornumber] == OUTSIDE);
 }
 
-bool BWFSENSOR::isOutOfBounds() {
+bool BWFSENSOR::isOutOfBounds(int sensornumber) {
 	if (BWF_DETECTION_ALWAYS)
-		return !isInside();
+		return !isInside(sensornumber);
 	else
-		return isOutside();
+		return isOutside(sensornumber);
 }
 
 bool BWFSENSOR::isTimedOut() {
@@ -111,8 +153,15 @@ bool BWFSENSOR::hasNoSignal() {
 // This function is run each time the BWF pin gets a pulse
 // For accuracy, this function should be kept as fast as possible
 void BWFSENSOR::readSensor() {
+  //bool needOneMoreRun = false;
   long now = micros();
-
+  if (_switching)
+  {
+    last_pulse = now;
+    Serial.println(">> new puls while still processing.");
+    return; //Avoid data for undefined state for selection pins
+  }
+  char buf[40];
   // Calculate the time since last pulse
   int time_since_pulse = int(now - last_pulse);
   last_pulse = now;
@@ -126,7 +175,9 @@ void BWFSENSOR::readSensor() {
 
     // Check if the entire pulse train has been batched
     if (pulse_count_inside >= sizeof(inside_code)/sizeof(inside_code[0])) {
+      //sensorValue[_currentSensor] = INSIDE;
       signal_status = INSIDE;
+      assignIfNeeded(_currentSensor, signal_status);
       last_match = millis();
       pulse_count_inside=0;
     }
@@ -138,20 +189,54 @@ void BWFSENSOR::readSensor() {
   if (abs(pulse_length-outside_code[pulse_count_outside]) < 2) {
     pulse_count_outside++;
     if (pulse_count_outside >= sizeof(outside_code)/sizeof(outside_code[0])) {
+      //sensorValue[_currentSensor] = OUTSIDE;
       signal_status = OUTSIDE;
+      assignIfNeeded(_currentSensor, signal_status);
       last_match = millis();
       pulse_count_outside=0;
     }
   } else {
     pulse_count_outside=0;
+
   }
 
 
+
   // Store the received code for debug output
   arr[arr_count++] = pulse_length;
   if (arr_count>arr_length) arr_count=0;
+//sensorValue[_currentSensor] = isOutOfBounds();
+//select((_currentSensor+1) % NUMBER_OF_SENSORS);
+  selectNext();
 }
 
+void BWFSENSOR::assignIfNeeded(int sensor, int signalStatus) {
+  if (sensorValue[sensor] != signalStatus) {
+    sensorValue[_currentSensor] = signalStatus;
+    //Signal change here if needed
+    Serial.print(F("Sensor "));
+    Serial.print(sensor);
+    Serial.print(F(" "));
+    Serial.println(getSignalStatusName(signalStatus));
+  };
+}
+
+String BWFSENSOR::getSignalStatusName(int signalStatus) {
+
+  switch (signalStatus)
+  {
+  case INSIDE:
+    return F("Inside");
+  case OUTSIDE:
+    return F("Outside");
+  case NOSIGNAL:
+    return F("No signal");
+  default:
+    return F("UNKNOWN");
+  }
+}
+
+
 void BWFSENSOR::printSignal() {
   for (int i = 0; i < arr_length; i++) {
     Serial.print(arr[i]);
@@ -161,4 +246,4 @@ void BWFSENSOR::printSignal() {
 bool BWFSENSOR::gotSignal()
 {
   return arr_count >= BWF_NUMBER_OF_PULSES ? true : false;
-}
+}
diff --git a/Liam/BWFSensor.h b/Liam/BWFSensor.h
@@ -26,42 +26,54 @@
 class BWFSENSOR {
   public:
     BWFSENSOR(int selA, int selB);
+    void setup();
 
+    void selectNext();
     void select(int sensornumber);
-    void clearSignal();
+    void SetManualSensorSelect(bool useManualMode);
+
 
-    bool isInside();
-    bool isOutside();
+    bool isInside(int sensornumber);
+    bool isOutside(int sensornumber);
+	  bool isOutOfBounds(int sensornumber);
     bool isTimedOut();
-	bool isOutOfBounds();
     bool hasNoSignal();
     bool gotSignal();
 
     void readSensor();
 
+
     void printSignal();
 
   private:
+    String getSignalStatusName(int signalStatus);
+    void assignIfNeeded(int sensor, int signalStatus);
+
+    int sensorValue[NUMBER_OF_SENSORS];
+    int getCurrentSensor();
+    void clearSignal();
     // BWF Code for inside and outside the fence
     static int inside_code[];
     static int outside_code[];
-
+    int _currentSensor = 0;
     const static int pulse_unit_length = 100;
 
     int pulse_count_inside;
     int pulse_count_outside;
 
     int selpin_A;
     int selpin_B;
-
+    volatile bool _switching; //volatile since it's share between interrupt and loop
     int signal_status;
+    unsigned long lastSwitch;
     long last_match;
     long last_pulse;
 
     // Array for debug printing
     const static int arr_length=10;
     int arr[arr_length];
     int arr_count;
+    bool _manualSensorSelect = false;
 };
 
 #endif /* _BWFSENSOR_H_ */
diff --git a/Liam/Battery.h b/Liam/Battery.h
@@ -22,7 +22,7 @@
 #define LEADACIDEMPTY   12000
 
 // Running average sample size
-#define FILTER        5
+#define FILTER        40
 
 // Voltage divider factor x10 to avoid decimal ( 4 = 40)
 #define VOLTDIVATOR   42