1 | // %flair:license{ |
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2 | // This file is part of the Flair framework distributed under the |
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3 | // CECILL-C License, Version 1.0. |
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4 | // %flair:license} |
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5 | /*! |
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6 | * \file SimulatedBldc.h |
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7 | * \brief Class for a simulation bldc |
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8 | * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253 |
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9 | * \date 2014/02/07 |
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10 | * \version 4.0 |
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11 | */ |
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12 | |
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13 | #ifndef SIMULATEDBLDC_H |
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14 | #define SIMULATEDBLDC_H |
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15 | |
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16 | #include <Bldc.h> |
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17 | |
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18 | namespace flair { |
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19 | namespace core { |
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20 | class SharedMem; |
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21 | class IODevice; |
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22 | class Matrix; |
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23 | } |
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24 | namespace gui { |
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25 | class DoubleSpinBox; |
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26 | class Layout; |
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27 | } |
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28 | } |
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29 | |
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30 | namespace flair { |
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31 | namespace actuator { |
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32 | /*! \class SimulatedBldc |
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33 | * |
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34 | * \brief Class for a simulation bldc |
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35 | * |
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36 | */ |
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37 | class SimulatedBldc : public Bldc { |
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38 | public: |
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39 | /*! |
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40 | * \brief Constructor |
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41 | * |
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42 | * Construct a SimulatedBldc |
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43 | * |
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44 | * \param parent parent |
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45 | * \param layout layout |
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46 | * \param name name |
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47 | * \param motors_count number of motors |
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48 | * \param modelId Model id |
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49 | * \param deviceId Bldc id of the Model |
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50 | */ |
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51 | SimulatedBldc(const core::IODevice *parent, gui::Layout *layout, std::string name, |
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52 | uint8_t motors_count, uint32_t modelId,uint32_t deviceId); |
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53 | |
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54 | /*! |
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55 | * \brief Destructor |
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56 | * |
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57 | */ |
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58 | ~SimulatedBldc(); |
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59 | |
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60 | /*! |
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61 | * \brief Has speed measurement |
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62 | * |
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63 | * Reimplemented from Bldc. \n |
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64 | * |
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65 | * \return true if it has speed measurement |
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66 | */ |
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67 | bool HasSpeedMeasurement(void) const { return false; }; |
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68 | |
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69 | /*! |
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70 | * \brief Has current measurement |
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71 | * |
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72 | * Reimplemented from Bldc. \n |
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73 | * |
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74 | * \return true if it has current measurement |
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75 | */ |
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76 | bool HasCurrentMeasurement(void) const { return false; }; |
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77 | |
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78 | private: |
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79 | /*! |
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80 | * \brief Set motors values |
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81 | * |
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82 | * Reimplemented from Bldc. \n |
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83 | * Values size must be the same as MotorsCount() |
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84 | * |
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85 | * \param values motor values |
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86 | */ |
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87 | void SetMotors(float *value); |
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88 | |
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89 | std::string ShMemName(uint32_t modelId,uint32_t deviceId); |
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90 | core::SharedMem *shmem; |
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91 | gui::DoubleSpinBox *k; |
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92 | char *buf; |
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93 | |
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94 | }; |
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95 | } // end namespace actuator |
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96 | } // end namespace flair |
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97 | #endif // SIMULATEDBLDC_H |
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