Merge pull request #12 from rogy-AquaLab/fix-iroiro

Fix iroiro

Author: H1rono

.clang-format

@@ -5,7 +5,7 @@ AccessModifierOffset: -4
 AlignAfterOpenBracket: BlockIndent
 AlignArrayOfStructures: None
 AlignConsecutiveAssignments:
-  Enabled: true
+  Enabled: false
   AcrossEmptyLines: false
   AcrossComments: false
   AlignCompound: false
@@ -36,7 +36,7 @@ AlignConsecutiveShortCaseStatements:
   Enabled: true
   AcrossEmptyLines: false
   AcrossComments: false
-  AlignCaseArrows: false
+  #  AlignCaseArrows: false
   AlignCaseColons: false
 
 AlignEscapedNewlines: Left

include/umiusi/defered_delay.hpp

@@ -1,12 +1,13 @@
 #ifndef DEFERED_DELAY_HPP
 #define DEFERED_DELAY_HPP
 
+#include <chrono>
 #include <cstdint>
 
 struct DeferedDelay {
-    const uint16_t duration_ms;
+    const std::chrono::milliseconds duration;
 
-    DeferedDelay(uint16_t duration_ms);
+    DeferedDelay(std::chrono::milliseconds duration);
     ~DeferedDelay();
 };
 

include/umiusi/outputs.hpp

@@ -2,10 +2,14 @@
 #define OUTPUTS_HPP
 
 #include <array>
+#include <mutex>
 
 #include <DigitalOut.h>
+#include <Mutex.h>
 #include <PwmOut.h>
 
+#include "umiusi/state.hpp"
+
 // Pin Map:
 // targets/TARGET_STM/TARGET_STM32F3/TARGET_STM32F3x8/TARGET_NUCLEO_F303K8/PeripheralPins.c
 // in https://github.com/ARMmbed/mbed-os/tree/869f0d7
@@ -88,4 +92,22 @@ class Outputs {
     void reset();
 };
 
+class OutputMachine {
+private:
+    Outputs     outputs;
+    State       _state;
+    rtos::Mutex state_mutex;
+
+    void set_state(State s);
+
+public:
+    explicit OutputMachine();
+    auto state() -> State;
+    void set_powers(
+        const std::array<std::pair<uint16_t, uint16_t>, THRUSTER_NUM>& pulsewidths_us
+    );
+    void suspend();
+    void initialize();
+};
+
 #endif

include/umiusi/state.hpp

@@ -3,7 +3,7 @@
 
 #include <cstdint>
 
-enum class State: std::uint8_t {
+enum class State : std::uint8_t {
     INITIALIZING = 0,
     SUSPEND = 1,
     RUNNING = 2,

src/main.cpp

@@ -1,5 +1,4 @@
 #include <array>
-#include <chrono>
 #include <cstdint>
 #include <mutex>
 
@@ -11,58 +10,9 @@
 #include "umiusi/defered_delay.hpp"
 #include "umiusi/inputs.hpp"
 #include "umiusi/outputs.hpp"
-#include "umiusi/state.hpp"
 
 using namespace std::chrono_literals;
 
-class OutputMachine {
-private:
-    Outputs     outputs;
-    State       _state;
-    rtos::Mutex state_mutex;
-
-    void set_state(State s) {
-        std::lock_guard _guard(this->state_mutex);
-        this->_state = s;
-    }
-
-public:
-    explicit OutputMachine() : outputs(), _state(State::SUSPEND), state_mutex() {}
-
-    auto state() -> State {
-        std::lock_guard _guard(this->state_mutex);
-        return this->_state;
-    }
-
-    void set_powers(
-        const std::array<std::pair<uint16_t, uint16_t>, THRUSTER_NUM>& pulsewidths_us
-    ) {
-        if (this->state() != State::RUNNING) {
-            return;
-        }
-        this->outputs.set_powers(pulsewidths_us);
-    }
-
-    void suspend() {
-        this->outputs.reset();
-        this->set_state(State::SUSPEND);
-        this->outputs.deactivate();
-    }
-
-    void initialize() {
-        if (this->state() == State::INITIALIZING) {
-            return;
-        }
-        this->set_state(State::INITIALIZING);
-        this->outputs.reset();
-        this->outputs.setup();
-        if (this->state() == State::INITIALIZING) {
-            // setup前後で値が変化する可能性がある
-            this->set_state(State::RUNNING);
-        }
-    }
-};
-
 int main() {
     constexpr size_t INPUTS_THREAD_STACK_SIZE = 1024;
     constexpr size_t SETUP_THREAD_STACK_SIZE  = 512;
@@ -104,7 +54,7 @@ int main() {
         inputs.read();
     }
     while (true) {
-        DeferedDelay _delay(10);
+        DeferedDelay _delay(10ms);
         pc.sync();
         uint8_t header = 0;
         // TODO: timeout

src/umiusi/defered_delay.cpp

@@ -2,8 +2,8 @@
 #include "ThisThread.h"
 #include <chrono>
 
-DeferedDelay::DeferedDelay(uint16_t duration_ms) : duration_ms(duration_ms) {}
+DeferedDelay::DeferedDelay(std::chrono::milliseconds duration) : duration(duration) {}
 
 DeferedDelay::~DeferedDelay() {
-    rtos::ThisThread::sleep_for(std::chrono::milliseconds(duration_ms));
+    rtos::ThisThread::sleep_for(this->duration);
 }

src/umiusi/outputs.cpp

@@ -1,6 +1,8 @@
 #include "umiusi/outputs.hpp"
 #include "umiusi/defered_delay.hpp"
 
+using namespace std::chrono_literals;
+
 Outputs::Outputs() :
     init_status(INIT_PIN),
     bldcs{ mbed::PwmOut(BLDC1_PIN),
@@ -29,7 +31,7 @@ void Outputs::deactivate() {
 
 /// ESC の起動待ち
 void Outputs::wake_up() {
-    DeferedDelay _(2000);
+    DeferedDelay _(2s);
     for (mbed::PwmOut& bldc : this->bldcs) {
         bldc.pulsewidth_us(100);
     }
@@ -55,3 +57,43 @@ void Outputs::reset() {
         reset_pulsewidths_us{};
     this->set_powers(reset_pulsewidths_us);
 }
+
+void OutputMachine::set_state(State s) {
+    std::lock_guard _guard(this->state_mutex);
+    this->_state = s;
+}
+
+OutputMachine::OutputMachine() : outputs(), _state(State::SUSPEND), state_mutex() {}
+
+auto OutputMachine::state() -> State {
+    std::lock_guard _guard(this->state_mutex);
+    return this->_state;
+}
+
+void OutputMachine::set_powers(
+    const std::array<std::pair<uint16_t, uint16_t>, THRUSTER_NUM>& pulsewidths_us
+) {
+    if (this->state() != State::RUNNING) {
+        return;
+    }
+    this->outputs.set_powers(pulsewidths_us);
+}
+
+void OutputMachine::suspend() {
+    this->outputs.reset();
+    this->set_state(State::SUSPEND);
+    this->outputs.deactivate();
+}
+
+void OutputMachine::initialize() {
+    if (this->state() == State::INITIALIZING) {
+        return;
+    }
+    this->set_state(State::INITIALIZING);
+    this->outputs.reset();
+    this->outputs.setup();
+    if (this->state() == State::INITIALIZING) {
+        // setup前後で値が変化する可能性がある
+        this->set_state(State::RUNNING);
+    }
+}