Virtual methods

kaiaai · Jan 26, 2024 · c5a3357 · c5a3357
1 parent 4a1eb93
commit c5a3357
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Showing 2 changed files with 20 additions and 21 deletions.
diff --git a/src/LDS.h b/src/LDS.h
@@ -70,27 +70,27 @@ class LDS {
     };
   public:
     LDS();
-    result_t start(); // Initialize and start; call from Arduino setup()
-    void stop(); // Stop the motor and scanning
-    void loop(); // Call frequently from Arduino loop()
+    virtual result_t start() = 0; // Initialize and start; call from Arduino setup()
+    virtual void stop() = 0; // Stop the motor and scanning
+    virtual void loop() = 0; // Call frequently from Arduino loop()
 
-    uint32_t getSerialBaudRate();
-    float getCurrentScanFreq();
-    float getTargetScanFreqHz();
-    int getSamplingRateHz();
-    bool isActive();
+    virtual uint32_t getSerialBaudRate() = 0;
+    virtual float getCurrentScanFreqHz() = 0;
+    virtual float getTargetScanFreqHz() = 0;
+    virtual int getSamplingRateHz() = 0;
+    virtual bool isActive() = 0;
 
-    result_t setScanTargetFreqHz(float freq);
-    result_t setScanPIDCoeffs(float Kp, float Ki, float Kd);
-    result_t setScanPIDSamplePeriodMs(uint32_t sample_period_ms);
+    virtual result_t setScanTargetFreqHz(float freq) = 0;
+    virtual result_t setScanPIDCoeffs(float Kp, float Ki, float Kd) = 0;
+    virtual result_t setScanPIDSamplePeriodMs(uint32_t sample_period_ms) = 0;
 
-    void setScanPointCallback(ScanPointCallback scan_callback);
-    void setMotorPinCallback(MotorPinCallback motor_pin_callback);
-    void setPacketCallback(PacketCallback packet_callback);
-    void setSerialReadCallback(SerialReadCallback serial_read_callback);
-    void setSerialWriteCallback(SerialWriteCallback serial_write_callback);
-    void setInfoCallback(InfoCallback info_callback);
-    void setErrorCallback(ErrorCallback error_callback);
+    virtual void setScanPointCallback(ScanPointCallback scan_callback);
+    virtual void setMotorPinCallback(MotorPinCallback motor_pin_callback);
+    virtual void setPacketCallback(PacketCallback packet_callback);
+    virtual void setSerialReadCallback(SerialReadCallback serial_read_callback);
+    virtual void setSerialWriteCallback(SerialWriteCallback serial_write_callback);
+    virtual void setInfoCallback(InfoCallback info_callback);
+    virtual void setErrorCallback(ErrorCallback error_callback);
 
     static String resultCodeToString(result_t code);
     static String infoCodeToString(info_t code);

diff --git a/src/LDS_LDS02RR.cpp b/src/LDS_LDS02RR.cpp
@@ -42,6 +42,7 @@ int LDS_LDS02RR::getSamplingRateHz() {
 }
 LDS::result_t LDS_LDS02RR::setScanPIDCoeffs(float Kp, float Ki, float Kd) {
   scanFreqPID.SetTunings(Kp, Ki, Kd);
+  return RESULT_OK;
 }
 
 LDS::result_t LDS_LDS02RR::setScanPIDSamplePeriodMs(uint32_t sample_period_ms) {
@@ -50,8 +51,6 @@ LDS::result_t LDS_LDS02RR::setScanPIDSamplePeriodMs(uint32_t sample_period_ms) {
 }
 
 void LDS_LDS02RR::loop() {
-  LDS::result_t result = LDS::RESULT_OK;
-
   while (true) {
     int c = readSerial();
     if (c < 0)
@@ -128,7 +127,7 @@ void LDS_LDS02RR::enableMotor(bool enable) {
 
   if (enable) {
     setMotorPin(DIR_OUTPUT_PWM, LDS_MOTOR_PWM_PIN);
-    setMotorPin(enable ? pwm_val : VALUE_LOW, LDS_MOTOR_PWM_PIN);
+    setMotorPin(enable ? pwm_val : float(VALUE_LOW), LDS_MOTOR_PWM_PIN);
   } else {
     setMotorPin(DIR_OUTPUT_CONST, LDS_MOTOR_PWM_PIN);
     setMotorPin(VALUE_LOW, LDS_MOTOR_PWM_PIN);