initial wip version of launchdetector

src/lib/launchdetection/LaunchDetector.cpp

@@ -0,0 +1,94 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 Estimation and Control Library (ECL). All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name ECL nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file launchDetection.cpp
+ * Auto Detection for different launch methods (e.g. catapult)
+ *
+ * Authors and acknowledgements in header.
+ */
+
+#include "LaunchDetector.h"
+#include "CatapultLaunchMethod.h"
+#include <systemlib/err.h>
+
+LaunchDetector::LaunchDetector() :
+	launchdetection_on(NULL, "LAUN_ALL_ON", false)
+{
+	/* init all detectors */
+	launchMethods[0] = new CatapultLaunchMethod();
+
+
+	/* update all parameters of all detectors */
+	updateParams();
+}
+
+LaunchDetector::~LaunchDetector()
+{
+
+}
+
+void LaunchDetector::update(float accel_x)
+{
+	if (launchdetection_on.get() == 1) {
+		for (uint8_t i = 0; i < sizeof(launchMethods)/sizeof(LaunchMethod); i++) {
+			launchMethods[i]->update(accel_x);
+		}
+	}
+}
+
+bool LaunchDetector::getLaunchDetected()
+{
+	if (launchdetection_on.get() == 1) {
+		for (uint8_t i = 0; i < sizeof(launchMethods)/sizeof(LaunchMethod); i++) {
+			if(launchMethods[i]->getLaunchDetected()) {
+				return true;
+			}
+		}
+	}
+
+	return false;
+}
+
+void LaunchDetector::updateParams() {
+
+	warnx(" LaunchDetector::updateParams()");
+	//launchdetection_on.update();
+
+	for (uint8_t i = 0; i < sizeof(launchMethods)/sizeof(LaunchMethod); i++) {
+		//launchMethods[i]->updateParams();
+		warnx("updating component %d", i);
+	}
+
+	warnx(" LaunchDetector::updateParams() ended");
+}