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Feat/put in irts sensor into vcf #41

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48 changes: 48 additions & 0 deletions lib/interfaces/include/IRTSSensor.h
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Original file line number Diff line number Diff line change
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#ifndef IRTSSENSORINTERFACE_H
#define IRTSSENSORINTERFACE_H

#include "FlexCAN_T4.h"
#include "SharedFirmwareTypes.h"

#define UNPACK_AND_POPULATE_TEMP(WHEEL, MSGNUM, CH1, CH2, CH3, CH4) \
WHEEL##_IRTS_##MSGNUM##_t unpacked_sensor_data; \
Unpack_##WHEEL##_IRTS_##MSGNUM##_hytech(&unpacked_sensor_data, msg.buf, msg.len); \
latest_sensor_data.infrared_temp[CH1 - 1] = unpacked_sensor_data.WHEEL##IRTS_T##CH1##_ro; \
latest_sensor_data.infrared_temp[CH1] = unpacked_sensor_data.WHEEL##IRTS_T##CH2##_ro; \
latest_sensor_data.infrared_temp[CH1 + 1] = unpacked_sensor_data.WHEEL##IRTS_T##CH3##_ro; \
latest_sensor_data.infrared_temp[CH1 + 2] = unpacked_sensor_data.WHEEL##IRTS_T##CH4##_ro; \

class IRTSSensorInterface
{
public:
// LF wheel
void receive_IRTS_sensor_temp_lf_ch1_ch4(const CAN_message_t &msg, unsigned long curr_millis);
void receive_IRTS_sensor_temp_lf_ch5_ch8(const CAN_message_t &msg, unsigned long curr_millis);
void receive_IRTS_sensor_temp_lf_ch9_ch12(const CAN_message_t &msg, unsigned long curr_millis);
void receive_IRTS_sensor_temp_lf_ch13_ch16(const CAN_message_t &msg, unsigned long curr_millis);

// RF wheel
void receive_IRTS_sensor_temp_rf_ch1_ch4(const CAN_message_t &msg, unsigned long curr_millis);
void receive_IRTS_sensor_temp_rf_ch5_ch8(const CAN_message_t &msg, unsigned long curr_millis);
void receive_IRTS_sensor_temp_rf_ch9_ch12(const CAN_message_t &msg, unsigned long curr_millis);
void receive_IRTS_sensor_temp_rf_ch13_ch16(const CAN_message_t &msg, unsigned long curr_millis);

// LR wheel
void receive_IRTS_sensor_temp_lr_ch1_ch4(const CAN_message_t &msg, unsigned long curr_millis);
void receive_IRTS_sensor_temp_lr_ch5_ch8(const CAN_message_t &msg, unsigned long curr_millis);
void receive_IRTS_sensor_temp_lr_ch9_ch12(const CAN_message_t &msg, unsigned long curr_millis);
void receive_IRTS_sensor_temp_lr_ch13_ch16(const CAN_message_t &msg, unsigned long curr_millis);

// RR wheel
void receive_IRTS_sensor_temp_rr_ch1_ch4(const CAN_message_t &msg, unsigned long curr_millis);
void receive_IRTS_sensor_temp_rr_ch5_ch8(const CAN_message_t &msg, unsigned long curr_millis);
void receive_IRTS_sensor_temp_rr_ch9_ch12(const CAN_message_t &msg, unsigned long curr_millis);
void receive_IRTS_sensor_temp_rr_ch13_ch16(const CAN_message_t &msg, unsigned long curr_millis);

IRTSSensorData_s get_latest_sensor_data() const;

private:
IRTSSensorData_s latest_sensor_data;
};

#endif
81 changes: 81 additions & 0 deletions lib/interfaces/src/IRTSSensor.cpp
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#include "IRTSSensorInterface.h"
#include "FlexCAN_T4.h"
#include "hytech.h"

// LF wheel
void IRTSSensorInterface::receive_IRTS_sensor_temp_lf_ch1_ch4(const CAN_message_t &msg, unsigned long curr_millis)
{
UNPACK_AND_POPULATE_TEMP(FL, 1, 1, 2, 3, 4);
}
void IRTSSensorInterface::receive_IRTS_sensor_temp_lf_ch5_ch8(const CAN_message_t &msg, unsigned long curr_millis)
{
UNPACK_AND_POPULATE_TEMP(FL, 2, 5, 6, 7, 8);
}
void IRTSSensorInterface::receive_IRTS_sensor_temp_lf_ch9_ch12(const CAN_message_t &msg, unsigned long curr_millis)
{
UNPACK_AND_POPULATE_TEMP(FL, 3, 9, 10, 11, 12);
}
void IRTSSensorInterface::receive_IRTS_sensor_temp_lf_ch13_ch16(const CAN_message_t &msg, unsigned long curr_millis)
{
UNPACK_AND_POPULATE_TEMP(FL, 4, 13, 14, 15, 16);
}

// RF wheel
void IRTSSensorInterface::receive_IRTS_sensor_temp_rf_ch1_ch4(const CAN_message_t &msg, unsigned long curr_millis)
{
UNPACK_AND_POPULATE_TEMP(RF, 1, 1, 2, 3, 4);
}
void IRTSSensorInterface::receive_IRTS_sensor_temp_rf_ch5_ch8(const CAN_message_t &msg, unsigned long curr_millis)
{
UNPACK_AND_POPULATE_TEMP(RF, 2, 5, 6, 7, 8);
}
void IRTSSensorInterface::receive_IRTS_sensor_temp_rf_ch9_ch12(const CAN_message_t &msg, unsigned long curr_millis)
{
UNPACK_AND_POPULATE_TEMP(RF, 3, 9, 10, 11, 12);
}
void IRTSSensorInterface::receive_IRTS_sensor_temp_rf_ch13_ch16(const CAN_message_t &msg, unsigned long curr_millis)
{
UNPACK_AND_POPULATE_TEMP(RF, 4, 13, 14, 15, 16);
}


// LFR wheel
void IRTSSensorInterface::receive_IRTS_sensor_temp_lr_ch1_ch4(const CAN_message_t &msg, unsigned long curr_millis)
{
UNPACK_AND_POPULATE_TEMP(LR, 1, 1, 2, 3, 4);
}
void IRTSSensorInterface::receive_IRTS_sensor_temp_lr_ch5_ch8(const CAN_message_t &msg, unsigned long curr_millis)
{
UNPACK_AND_POPULATE_TEMP(LR, 2, 5, 6, 7, 8);
}
void IRTSSensorInterface::receive_IRTS_sensor_temp_lr_ch9_ch12(const CAN_message_t &msg, unsigned long curr_millis)
{
UNPACK_AND_POPULATE_TEMP(LR, 3, 9, 10, 11, 12);
}
void IRTSSensorInterface::receive_IRTS_sensor_temp_lr_ch13_ch16(const CAN_message_t &msg, unsigned long curr_millis)
{
UNPACK_AND_POPULATE_TEMP(LR, 4, 13, 14, 15, 16);
}

// RR wheel
void IRTSSensorInterface::receive_IRTS_sensor_temp_rr_ch1_ch4(const CAN_message_t &msg, unsigned long curr_millis)
{
UNPACK_AND_POPULATE_TEMP(RR, 1, 1, 2, 3, 4);
}
void IRTSSensorInterface::receive_IRTS_sensor_temp_rr_ch5_ch8(const CAN_message_t &msg, unsigned long curr_millis)
{
UNPACK_AND_POPULATE_TEMP(RR, 2, 5, 6, 7, 8);
}
void IRTSSensorInterface::receive_IRTS_sensor_temp_rr_ch9_ch12(const CAN_message_t &msg, unsigned long curr_millis)
{
UNPACK_AND_POPULATE_TEMP(RR, 3, 9, 10, 11, 12);
}
void IRTSSensorInterface::receive_IRTS_sensor_temp_rr_ch13_ch16(const CAN_message_t &msg, unsigned long curr_millis)
{
UNPACK_AND_POPULATE_TEMP(RR, 4, 13, 14, 15, 16);
}

IRTSSensorData_s IRTSSensorInterface::get_latest_sensor_data() const
{
return latest_sensor_data;
}
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