source: flair-dev/trunk/include/FlairSimulator/SimuBldc.h @ 68

Last change on this file since 68 was 68, checked in by Sanahuja Guillaume, 3 years ago

maj for armv5te

File size: 1.5 KB
Line 
1// %flair:license{
2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
4// %flair:license}
5/*!
6 * \file SimuBldc.h
7 * \brief Class for a simulation bldc
8 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
9 * \date 2014/02/07
10 * \version 4.0
11 */
12
13#ifndef SIMUBLDC_H
14#define SIMUBLDC_H
15
16#include <IODevice.h>
17
18namespace flair {
19namespace core {
20class SharedMem;
21}
22}
23
24namespace flair {
25namespace actuator {
26/*! \class SimuBldc
27*
28* \brief Class for a simulation bldc
29*
30*/
31class SimuBldc : public core::IODevice {
32public:
33  /*!
34  * \brief Constructor
35  *
36  * Construct a SimuBldc
37  *
38  * \param parent parent
39  * \param name name
40  * \param motors_count number of motors
41  * \param modelId Model id
42  * \param deviceId Bldc id of the Model
43  */
44  SimuBldc(const core::Object *parent, std::string name, uint8_t motors_count,
45           uint32_t modelId,uint32_t deviceId);
46
47  /*!
48  * \brief Destructor
49  *
50  */
51  ~SimuBldc();
52
53  /*!
54  * \brief Get motors speeds.
55  *
56  *
57  * \param value array to store motors speeds
58  * \param time time when shared memory was written
59  */
60  void GetSpeeds(float *value,core::Time* time) const;
61
62
63private:
64  /*!
65  * \brief Update using provided datas
66  *
67  * Reimplemented from IODevice.
68  *
69  * \param data data from the parent to process
70  */
71  void UpdateFrom(const core::io_data *data){};
72  std::string ShMemName(uint32_t modelId,uint32_t deviceId);
73  core::SharedMem *shmem;
74  char *buf;
75  uint8_t motors_count;
76
77};
78} // end namespace actuator
79} // end namespace flair
80#endif // SIMUBLDC_H
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