Sensors

Description

This is the implementation of the Sensor interface of the OpenVCIK. It's APIs allow access to the various sensor connected to the Kit viz sonars, compass, encoders, and charge sense.

Class

Sensors

Structures and enumerations

typedef struct SensorMask{
  unsigned char mask1;          
  unsigned char mask2;          
}

Structure to hold sensor mask bytes
Mask bytes:

• Maks Byte 1 - BITS :[7:0] -> mapping [SONAR1, SONAR2, SONAR3, SONAR4, SONAR5, SONAR6, SONAR7, SONAR8]
• Maks Byte 2 - BITS :[7:0] -> mapping [COMPASS, ALL_SONAR, CHARGE, X, X, SEND_DATA, X, X]

---

typedef struct timeStamp{
  
      long int h;            
      long int m;
      long int s;
      unsigned long int ms;  
};

structure for holding the timestamp data
timestamp info:

• h - Hours
• m - Minutes
• s - Seconds
• ms - Milliseconds

---

enum Masks {MASK1, MASK2};    

Type Masks to represent Mask byte

---

Public member functions

Sensors()

Constructor - initializes the sensors

---

void setMasks(unsigned char m1, unsigned char m2)

Set/Reset sensor mask bytes Arguements:

• m1 (Type: char) - mask byte 1
• m2 - mask byte 2

---

void setSpecificMask(Masks mask,unsigned char m)

Set/Reset specific mask byte Arguements:

• mask (Type: Mask) - mask byte [MASK1 | MASK2]
• m - mask byte
  Note: see enumeration Mask

---

void setSonarParameters(int maxdist, float factor)

Sets the parameters related to sonar sensors distance ranging
Arguements:

• maxdist (Type: Integer) - maximum distance we want to range
• factor (Type: Float) - is the conversion factor from time_of_travel of sound waves to actual distance
  Note: See sensor's specifications

---

void initSonars()

Initialize the pins for sonars

---

void readSonars()

Reads all the 8 sonars simultaneously and puts them in the sensorData array, also if SEND_DATA bit set, it sends the sensor data over the COMM i.e. to the Service Layer (see Framework section in wiki)

---

void setCompassTimeout(int timeout)

Set compass timeout. This is used while waiting for the I2C data to arrive from compass while reading compass. So if timeout then data is -1
Arguments:

• timeout - (Type - timeout)time in milliseconds to wait for data from the compass sensor

---

void readCompass()

Reads compass using I2C protocol making use of Arduino WIRE library, and puts them in the sensorData array, also if SEND_DATA bit set, it sends the sensor data over the COMM i.e. to the Service Layer

---

void readCharge()

Senses the charge of the 12 V battery which powers the Kit in percentage puts it in the sensorData array, also if SEND_DATA bit set, it sends the data over the COMM i.e. to the Service Layer. It reads 0 if the batteries are completely discharged or when the batteries are not connected

---

const int* getSensorData()

Access the complete sensor data by reference.
Returns: (Type: const int*) - an array of 10 elements [1:8 sonar, compass, charge] by reference

Private member functions

void sendSonarData(timeStamp ts)

Writes the sensor data in CSV format to the Serial COMM in the format - "[Sensor Type]HH:MM:SS:MS,Sonardata1,..Sonardata8.". E.g. $S1:2:3:3,12,12,12,12,12,0,0,0.
Arguments:

• ts (Type: timestamp) - the timestamp

---

void sendCompassData(timeStamp ts)

Writes the compass data to the Serial COMM in the format - "$[Sensor Type]HH:MM:SS:MS,compassdata.". E.g. $S1:2:3:3,90.

Arguments:

• ts (Type: timestamp) - the timestamp

---

void sendChargeData(timeStamp ts)

Writes the charge data to the Serial COMM in the format - "$[Sensor Type]HH:MM:SS:MS,chargedata.". E.g. $S1:2:3:3,89. Arguments:

• ts (Type: timestamp) - the timestamp