sensor: ping360: add num_steps to sensor settings struct

This is a parameter needed for auto transmit strategy
bluerobotics · Feb 1, 2024 · 68fa8b4 · 68fa8b4
1 parent 508b250
commit 68fa8b4
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Showing 2 changed files with 7 additions and 3 deletions.
diff --git a/src/sensor/ping360.cpp b/src/sensor/ping360.cpp
@@ -324,7 +324,7 @@ void Ping360::asyncProfileRequest()
 
     auto_transmit.set_start_angle(_sensorSettings.start_angle);
     auto_transmit.set_stop_angle(_sensorSettings.end_angle);
-    auto_transmit.set_num_steps(_angular_speed);
+    auto_transmit.set_num_steps(_sensorSettings.num_steps);
     auto_transmit.set_delay(0);
     auto_transmit.updateChecksum();
 
@@ -452,7 +452,7 @@ void Ping360::handleMessage(const ping_message& msg)
         _sensorSettings.checkSector = true;
         _sensorSettings.checkValidation({autoDeviceData.transmit_duration(), autoDeviceData.gain_setting(),
             autoDeviceData.data_length(), autoDeviceData.sample_period(), autoDeviceData.transmit_frequency(),
-            autoDeviceData.start_angle(), autoDeviceData.stop_angle()});
+            autoDeviceData.start_angle(), autoDeviceData.stop_angle(), autoDeviceData.num_steps()});
 
         // Everything should be valid, otherwise the sensor is not in sync
         if (!link()->isWritable() && _sensorSettings.valid) {
@@ -461,6 +461,7 @@ void Ping360::handleMessage(const ping_message& msg)
             set_sample_period(autoDeviceData.sample_period());
             set_transmit_frequency(autoDeviceData.transmit_frequency());
             set_number_of_points(autoDeviceData.data_length());
+            set_angular_speed(autoDeviceData.num_steps());
         }
 
         if (!_sensorSettings.valid) {

diff --git a/src/sensor/ping360.h b/src/sensor/ping360.h
@@ -295,6 +295,7 @@ class Ping360 : public PingSensor {
     {
         if (angular_speed != _angular_speed) {
             _angular_speed = angular_speed;
+            _sensorSettings.num_steps = angular_speed;
             emit angularSpeedChanged();
         }
     }
@@ -615,6 +616,7 @@ class Ping360 : public PingSensor {
 
         uint16_t start_angle = 0;
         uint16_t end_angle = 399;
+        uint8_t num_steps = 1;
         bool checkSector = false;
 
         bool valid = true;
@@ -632,7 +634,8 @@ class Ping360 : public PingSensor {
                 && other.num_points == num_points && other.sample_period == sample_period
                 && other.transmit_frequency == transmit_frequency;
             if (checkSector && valid) {
-                valid = other.start_angle == start_angle && other.end_angle == end_angle;
+                valid
+                    = other.start_angle == start_angle && other.end_angle == end_angle && other.num_steps == num_steps;
             }
             return valid;
         }