Revision 4:b2fe3a2545bf, committed 2015-12-03

Comitter:

sillevl

Date:

Thu Dec 03 16:34:59 2015 +0000

Parent:

3:d35dc4d2f243

Child:

5:a75574090b59

Child:

7:448de3b31a48

Commit message:

return data structures for sensor values instead of array pointers

Changed in this revision

--- a/M3Dpi.cpp	Thu Dec 03 08:19:42 2015 +0000
+++ b/M3Dpi.cpp	Thu Dec 03 16:34:59 2015 +0000
@@ -45,37 +45,40 @@
     leds.setAll(colors);
 }
 
-int* M3Dpi::getDistance(int data[])
+m3dpi::Distance M3Dpi::getDistance()
 {
-    return distance.getAllDistance(data);;
+    return distance.getAllDistance();
 }
 
-int* M3Dpi::getDirection(int data[])
+m3dpi::Direction M3Dpi::getDirection()
 {
+    m3dpi::Direction direction;
     coord c;
     c = compass.getCompass();
-    data[0] = c.x;
-    data[1] = c.y;
-    data[2] = c.z;
-    return data;
+    direction.x = c.x;
+    direction.y = c.y;
+    direction.z = c.z;
+    return direction;
 }
 
-int* M3Dpi::getRotation(int data[])
+m3dpi::Rotation M3Dpi::getRotation()
 {
-    data[0] = gyro.getGyroX();
-    data[1] = gyro.getGyroY();
-    data[2] = gyro.getGyroZ();
-    return data;
+    m3dpi::Rotation rotation;
+    rotation.x = gyro.getGyroX();
+    rotation.y = gyro.getGyroY();
+    rotation.z = gyro.getGyroZ();
+    return rotation;
 }
 
-int* M3Dpi::getAcceleration(int data[])
+m3dpi::Acceleration M3Dpi::getAcceleration()
 {
+    m3dpi::Acceleration acc;
     int values[3] = {0};
     accelerometer.getOutput(values);
-    data[0] = (int16_t) values[0];
-    data[1] = (int16_t) values[1];
-    data[2] = (int16_t) values[2];
-    return data;
+    acc.x = (int16_t) values[0];
+    acc.y = (int16_t) values[1];
+    acc.z = (int16_t) values[2];
+    return acc;
 }
 
 int M3Dpi::_putc(int c)
@@ -88,9 +91,7 @@
     return xbee.getc();
 }
 
-char* M3Dpi::getTime(char buffer[])
+time_t M3Dpi::getTime()
 {
-    time_t seconds = time(NULL);
-    strftime(buffer, 32, "%d-%m-%Y %T", localtime(&seconds));
-    return buffer;
+    return time(NULL);
 }
\ No newline at end of file

--- a/M3Dpi.h	Thu Dec 03 08:19:42 2015 +0000
+++ b/M3Dpi.h	Thu Dec 03 16:34:59 2015 +0000
@@ -12,34 +12,36 @@
 //#include "vl6108x.h"
 #include "vl6180xManager.h"
 #include "xbee.h"
+#include "datatypes.h"
 
-class M3Dpi : public m3pi{
-        
-    public:
+class M3Dpi : public m3pi
+{
+
+public:
     M3Dpi();
-    
+
     void setStatus(int color);
     void setStatus(Color* color);
-    
+
     void setLeds(int* colors);
-    int* getDistance(int data[]);
-    int* getDirection(int data[]); // compass
-    int* getRotation(int data[]); // gyro
-    int* getAcceleration(int data[]);
-    char* getTime(char buffer[]);
-    
+    m3dpi::Distance getDistance();
+    m3dpi::Direction getDirection(); // compass
+    m3dpi::Rotation getRotation(); // gyro
+    m3dpi::Acceleration getAcceleration();
+    time_t getTime();
+
     // buttonhandler (interrupt based?)
-        
+
     //protected:    // public for hardware testing only
     StatusLed status;
     LedRing leds;
-    
+
     HMC5583L compass;
     ITG3200 gyro;
     ADXL345_I2C accelerometer;
     VL6180xManager distance;
     Xbee xbee;
-    
+
     static const PinName SDA = p28;
     static const PinName SCL = p27;
     static const PinName XBEE_TX = p13;
@@ -48,10 +50,10 @@
     static const PinName STATUS_RED = p18;
     static const PinName STATUS_GREEN = p19;
     static const PinName STATUS_BLUE = p20;
-    
+
     static const int XBEE_BAUD = 115200;
 
     virtual int _putc(int c);
     virtual int _getc();
-    
+
 };
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/lib/datatypes.h	Thu Dec 03 16:34:59 2015 +0000
@@ -0,0 +1,34 @@
+#pragma once
+
+namespace m3dpi
+{
+struct Distance {
+    int front;
+    int front_right;
+    int right;
+    int back_right;
+    int back;
+    int back_left;
+    int left;
+    int front_left;
+};
+
+struct Acceleration{
+    int x;
+    int y; 
+    int z;
+};
+
+struct Rotation{
+    int x;
+    int y; 
+    int z;
+};
+
+struct Direction{
+    int x;
+    int y; 
+    int z;
+};
+
+}
\ No newline at end of file

--- a/lib/vl6180xManager.cpp	Thu Dec 03 08:19:42 2015 +0000
+++ b/lib/vl6180xManager.cpp	Thu Dec 03 16:34:59 2015 +0000
@@ -15,13 +15,24 @@
     mux.select(index);
 }
 
-int* VL6180xManager::getAllDistance(int data[])
+m3dpi::Distance VL6180xManager::getAllDistance()
 {
-    for(int i = 0; i < 8; i++) {
-        mux.select(i);
-        data[i] = sensor.getDistance();
-    }
-    return data;
+    m3dpi::Distance distance;
+    distance.front          = getDistance(0);
+    distance.front_right    = getDistance(1);
+    distance.right          = getDistance(2);
+    distance.back_right     = getDistance(3);
+    distance.back           = getDistance(4);
+    distance.back_left      = getDistance(5);
+    distance.left           = getDistance(6);
+    distance.front_left     = getDistance(7);
+    return distance;
+}
+
+int VL6180xManager::getDistance(int index)
+{
+    mux.select(index);
+    return sensor.getDistance();
 }
 
 

--- a/lib/vl6180xManager.h	Thu Dec 03 08:19:42 2015 +0000
+++ b/lib/vl6180xManager.h	Thu Dec 03 16:34:59 2015 +0000
@@ -3,6 +3,7 @@
 #include "mbed.h"
 #include "PCA9547.h"
 #include "vl6180x.h"
+#include "datatypes.h"
 
 /*enum DistanceSensor{
     FRONT,
@@ -20,7 +21,8 @@
 public:
     VL6180xManager(PinName sda, PinName scl);
     void select(int index);
-    int* getAllDistance(int data[]);
+    m3dpi::Distance getAllDistance();
+    int getDistance(int index);
 
 protected: