source: flair-src/trunk/lib/FlairFilter/src/X4X8Multiplex_impl.cpp@ 137

Last change on this file since 137 was 106, checked in by Sanahuja Guillaume, 5 years ago

modifs

File size: 5.9 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// created: 2014/04/10
6// filename: X4X8Multiplex_impl.cpp
7//
8// author: Guillaume Sanahuja
9// Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11// version: $Id: $
12//
13// purpose: Class defining X4 and X8 multiplexing
14//
15//
16/*********************************************************************/
17
18#include "X4X8Multiplex_impl.h"
19#include "X4X8Multiplex.h"
20#include <cvmatrix.h>
21#include <Tab.h>
22#include <GridLayout.h>
23#include <GroupBox.h>
24#include <ComboBox.h>
25#include <DataPlot1D.h>
26#include <math.h>
27
28#define MAX_MOTORS 8
29
30using std::string;
31using namespace flair::core;
32using namespace flair::gui;
33using namespace flair::filter;
34
35X4X8Multiplex_impl::X4X8Multiplex_impl(flair::filter::X4X8Multiplex *self,
36 int nb_mot) {
37 this->nb_mot = nb_mot;
38 this->self = self;
39
40 if (nb_mot == 4) {
41 GroupBox *groupbox =
42 new GroupBox(self->GetLayout()->NewRow(), "x4 multiplex");
43 pas = new ComboBox(groupbox->NewRow(), "front left blade pitch:");
44 } else {
45 GroupBox *groupbox =
46 new GroupBox(self->GetLayout()->NewRow(), "x8 multiplex");
47 pas = new ComboBox(groupbox->NewRow(), "top front left blade pitch:");
48 }
49 pas->AddItem("counter clockwise");
50 pas->AddItem("clockwise");
51
52 cvmatrix_descriptor *desc = new cvmatrix_descriptor(nb_mot, 1);
53 for (int i = 0; i < nb_mot; i++) {
54 desc->SetElementName(i, 0, MotorName(i));
55 }
56
57 output = new cvmatrix(self, desc, floatType);
58
59 self->AddDataToLog(output);
60}
61
62X4X8Multiplex_impl::~X4X8Multiplex_impl(void) {}
63
64void X4X8Multiplex_impl::UseDefaultPlot(void) {
65 Tab *plot_tab = new Tab(self->GetTabWidget(), "Values");
66 plots[0] = new DataPlot1D(plot_tab->NewRow(), "front left", 0, 1);
67 plots[1] = new DataPlot1D(plot_tab->LastRowLastCol(), "front right", 0, 1);
68 plots[2] = new DataPlot1D(plot_tab->NewRow(), "rear left", 0, 1);
69 plots[3] = new DataPlot1D(plot_tab->LastRowLastCol(), "rear right", 0, 1);
70
71 for (int i = 0; i < 4; i++)
72 plots[i]->AddCurve(output->Element(i));
73
74 if (nb_mot == 8) {
75 for (int i = 0; i < 4; i++)
76 plots[i]->AddCurve(output->Element(i + 4), DataPlot::Blue);
77 }
78}
79
80void X4X8Multiplex_impl::UpdateFrom(const io_data *data) {
81 float u_roll, u_pitch, u_yaw, u_thrust;
82 float trim_roll, trim_pitch, trim_yaw;
83 float value[MAX_MOTORS];
84
85 cvmatrix *input = (cvmatrix *)data;
86
87 // on prend une fois pour toute le mutex et on fait des accès directs
88 input->GetMutex();
89
90 u_roll = input->ValueNoMutex(0, 0);
91 u_pitch = input->ValueNoMutex(1, 0);
92 u_yaw = input->ValueNoMutex(2, 0);
93 u_thrust = input->ValueNoMutex(3, 0);
94 trim_roll = input->ValueNoMutex(4, 0);
95 trim_pitch = input->ValueNoMutex(5, 0);
96 trim_yaw = input->ValueNoMutex(6, 0);
97
98 input->ReleaseMutex();
99
100 if (pas->CurrentIndex() == 1) {
101 trim_yaw = -trim_yaw;
102 u_yaw = -u_yaw;
103 }
104
105 if (nb_mot == 2) {
106 //(top) front left
107 value[self->MultiplexValue(X4X8Multiplex::TopFrontLeft)] = Set(
108 trim_pitch + trim_roll + trim_yaw, u_thrust + u_pitch + u_roll + u_yaw);
109
110 //(top) front right
111 value[self->MultiplexValue(X4X8Multiplex::TopFrontRight)] = Set(
112 trim_pitch - trim_roll - trim_yaw, u_thrust + u_pitch - u_roll - u_yaw);
113 }
114 if (nb_mot == 4 || nb_mot == 8) {
115 //(top) front left
116 value[self->MultiplexValue(X4X8Multiplex::TopFrontLeft)] = Set(
117 trim_pitch + trim_roll + trim_yaw, u_thrust + u_pitch + u_roll + u_yaw);
118
119 //(top) front right
120 value[self->MultiplexValue(X4X8Multiplex::TopFrontRight)] = Set(
121 trim_pitch - trim_roll - trim_yaw, u_thrust + u_pitch - u_roll - u_yaw);
122
123 //(top) rear left
124 value[self->MultiplexValue(X4X8Multiplex::TopRearLeft)] =
125 Set(-trim_pitch + trim_roll - trim_yaw,
126 u_thrust - u_pitch + u_roll - u_yaw);
127
128 //(top) rear right
129 value[self->MultiplexValue(X4X8Multiplex::TopRearRight)] =
130 Set(-trim_pitch - trim_roll + trim_yaw,
131 u_thrust - u_pitch - u_roll + u_yaw);
132 }
133
134 if (nb_mot == 8) {
135 // bottom front left
136 value[self->MultiplexValue(X4X8Multiplex::BottomFrontLeft)] = Set(
137 trim_pitch + trim_roll - trim_yaw, u_thrust + u_pitch + u_roll - u_yaw);
138
139 // bottom front right
140 value[self->MultiplexValue(X4X8Multiplex::BottomFrontRight)] = Set(
141 trim_pitch - trim_roll + trim_yaw, u_thrust + u_pitch - u_roll + u_yaw);
142
143 // bottom rear left
144 value[self->MultiplexValue(X4X8Multiplex::BottomRearLeft)] =
145 Set(-trim_pitch + trim_roll + trim_yaw,
146 u_thrust - u_pitch + u_roll + u_yaw);
147
148 // bottom rear right
149 value[self->MultiplexValue(X4X8Multiplex::BottomRearRight)] =
150 Set(-trim_pitch - trim_roll - trim_yaw,
151 u_thrust - u_pitch - u_roll - u_yaw);
152 }
153
154 // on prend une fois pour toute le mutex et on fait des accès directs
155 output->GetMutex();
156 for (int i = 0; i < nb_mot; i++)
157 output->SetValueNoMutex(i, 0, value[i]);
158 output->ReleaseMutex();
159
160 output->SetDataTime(data->DataTime());
161
162 self->ProcessUpdate(output);
163}
164
165float X4X8Multiplex_impl::Set(float trim, float u) {
166 float value = trim;
167
168 if (u > 0) {
169 value += sqrtf(u);
170 }
171
172 return value;
173}
174
175string X4X8Multiplex_impl::MotorName(int index) {
176 switch (nb_mot) {
177 case 4: {
178 switch (index) {
179 case 0:
180 return "front left";
181 case 1:
182 return "front rigth";
183 case 2:
184 return "rear left";
185 case 3:
186 return "rear rigth";
187 default:
188 return "unammed motor";
189 }
190 }
191 case 8: {
192 switch (index) {
193 case 0:
194 return "top front left";
195 case 1:
196 return "top front rigth";
197 case 2:
198 return "top rear left";
199 case 3:
200 return "top rear rigth";
201 case 4:
202 return "bottom front left";
203 case 5:
204 return "bottom front rigth";
205 case 6:
206 return "bottom rear left";
207 case 7:
208 return "bottom rear rigth";
209 default:
210 return "unammed motor";
211 }
212 }
213 default: { return "unammed motor"; }
214 }
215}
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