sensing.cpp

// water.cpp

#include <unistd.h>
#include <ti/drivers/GPIO.h>
#include "ti_drivers_config.h"
#include "sensing.hh"
#include "adc.hh"


// Empty constructor
Sensing::Sensing() {
    lampGpio = LAMP_EN;
}

// Empty destructor
Sensing::~Sensing() {}

// Instance
Sensing& Sensing::instance() {
    static Sensing inst;
    return inst;
}

// Class functions
void Sensing::getResult(DRV8833& motor) {
    uint16_t nir_result = 0;
    uint16_t vis_result = 0;
    result_t new_result;

    GPIO_write(AMBER_LED, 1);

    // FIXME: stepZero doesn't work
    //motor.stepZero(200);         // 200 micrometers/sec = 60 RPM

    lampSet(true);
    usleep(500 * 1000);          // Sleep for 500ms to allow lamp to turn on

    // Increment through each position and take a reading
    for (int i = 0; i < POSITIONS; i++) {
        nir_result = AdcExternal::instance().getRawResult(AdcExternal::CH0);
        vis_result = AdcExternal::instance().getRawResult(AdcExternal::CH1);

        printf("Position %03d:\n", i);
        printf("   NIR:     %.3f V\n", resultRawToFloat(nir_result));
        printf("   Visible: %.3f V\n\n", resultRawToFloat(vis_result));

        if (nir_result != -1) {
           new_result.nir_results.at(i) = nir_result;
        }

        if (vis_result != -1) {
           new_result.vis_results.at(i) = vis_result;
        }

        motor.stepSteps(10000/POSITIONS, 60);        // 10k is max position
    }

    lampSet(false);

    new_result.time = std::time(nullptr);
    results.push(new_result);

    GPIO_write(AMBER_LED, 0);
}

inline float Sensing::resultRawToFloat(uint16_t raw_result) {
    return static_cast<float>(raw_result) / static_cast<float>(ONE_VOLT);
}

// Set lamp on or off
void Sensing::lampSet(bool on) {
    GPIO_write(lampGpio, (on ? GPIO_CFG_OUT_HIGH : GPIO_CFG_OUT_LOW));
    lampOn = on;
    return;
}

// Toggle lamp
void Sensing::lampToggle(void) {
    GPIO_toggle(lampGpio);
    lampOn = !lampOn;
    return;
}

result_t Sensing::queuePeek(void) {
    return results.front();
}