Rune Harlyk
57 lines
1.5 KiB
C++
57 lines
1.5 KiB
C++
#pragma once
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#include <NewPing.h>
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#include <mutex>
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#include <vector>
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#define USS_INTERVAL 500
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#define MAX_DISTANCE 200
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#define LEFT_TRIG 12
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#define RIGHT_TRIG 13
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class USSService
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{
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public:
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USSService(const std::vector<uint8_t>& triggerPins, unsigned int maxDistance = MAX_DISTANCE)
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: distances(triggerPins.size(), 0) {
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for (size_t i = 0; i < triggerPins.size(); i++) {
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sensors.emplace_back(triggerPins[i], triggerPins[i], maxDistance);
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}
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};
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void begin()
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{
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xTaskCreatePinnedToCore(this->_loopImpl, "USS Service", 4096, this, tskIDLE_PRIORITY, NULL, ESP32SVELTEKIT_RUNNING_CORE);
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};
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unsigned int getDistance(size_t index) {
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if (index >= distances.size()) return 0;
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std::lock_guard<std::mutex> lock(mutex_);
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return distances[index];
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}
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protected:
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static void _loopImpl(void *_this) { static_cast<USSService *>(_this)->_loop(); }
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void _loop()
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{
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const TickType_t xFrequency = pdMS_TO_TICKS(USS_INTERVAL);
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TickType_t xLastWakeTime = xTaskGetTickCount();
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while (1)
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{
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for (size_t i = 0; i < sensors.size(); i++) {
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std::lock_guard<std::mutex> lock(mutex_);
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distances[i] = sensors[i].ping_cm();
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vTaskDelay(50);
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}
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vTaskDelayUntil(&xLastWakeTime, xFrequency);
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}
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};
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private:
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std::vector<NewPing> sensors;
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std::vector<unsigned int> distances;
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std::mutex mutex_;
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};
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