Opener.h

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#ifndef OPENER_H
#define OPENER_H
 
#include <Arduino.h>
//#include "pico/stdlib.h"
 
int arraycmp(const void *p1, const void *p2);
bool is_odd_number(int n);
float get_median(int n, float a[]);
 
class OPENER
{
private:
    typedef struct
    {
        bool isOpend = false;
        bool prohibitOpen = true;
        bool meco_time = false;
        bool meco_acc = false;
        bool apogee_time = false;
        bool apogee_descending = false;
    } OPEN_JUDGE;
 
    void goFLIGHT();
    void goOPENED();
    uint32_t get_time_ms();
 
    // timer
    uint32_t before_10Hz_time = 0;
    uint32_t before_100Hz_time = 0;
    uint32_t count_100Hz = 0;
    void opener_10Hz();
 
    // get median
    float ALT_buf_mss[10];
    float ACC_buf_mss[10];
 
    // oversampling
    int ALT_count = 0;
 
    // altitude->velocity
    float before_altitude_m = 0;
 
    // sensor_judgement
    int lift_off_altitude_count = 0;
    int lift_off_acc_count = 0;
    int apogee_altitude_count = 0;
    int meco_acc_count = 0;
 
    // threshold
    float lift_off_threshold_altitude_m = 0;
    float lift_off_threshold_ac_mss = 0;
    int ALT_oversampling_count = 0;
    int ALT_threshold_count = 0;
 
protected:
    float open_threshold_altitude_m = 0.5;
    float open_threshold_ac_mss = 7;
    uint32_t period_10Hz_ms = 150; // 10Hz+50ms
    uint32_t period_100Hz_ms = 20; // 100Hz+10ms
    int ACC_threshold_count = 5;
    int flight_judgement_duration_ms = ACC_threshold_count * 100;
 
    uint32_t meco_threshold_time_ms = 5000;
    uint32_t open_threshold_time_ms = 11000;
 
    float fm_lift_off_threshold_altitude_m = 1.0;
    float fm_lift_off_threshold_ac_mss = 25.0;
    int fm_ALT_oversampling_count = 1;
    int fm_ALT_threshold_count = ACC_threshold_count;
 
    float shinsasyo_lift_off_threshold_altitude_m = 0.5;
    float shinsasyo_lift_off_threshold_ac_mss = 9.0;
    int shinsasyo_ALT_oversampling_count = 5.0;
    int shinsasyo_ALT_threshold_count = 2;
 
    virtual void open() = 0;
    virtual void close() = 0;
 
public:
    enum SETTING
    {
        FM,
        SHINSASYO
    };
    void switch_parameter(SETTING setting);
 
    enum MODE
    {
        CHECK,
        READY,
        FLIGHT,
        OPENED
    } mode = CHECK;
    enum LIFT_OFF_JUDGE
    {
        NONE,
        ACCSEN,
        ALTSEN
    } lift_off_judge = NONE;
 
    void init();
 
    void goCHECK();
    void goREADY();
    void clear_prohibitOpen();
    void prohibitOpen();
 
    void manualOpen();
    void manualClose();
 
    OPEN_JUDGE open_judge;
    bool opener_100Hz(float acceleration_mss, float altitude_m);
 
    void set_open_threshold_time_ms(uint32_t _open_threshold_time_ms);
    uint32_t get_open_threshold_time_ms();
 
    uint32_t get_meco_time_ms();
 
    uint32_t lift_off_time_ms;
    uint32_t open_time_ms;
};
 
#endif