source: flair-src/trunk/lib/FlairIpc/src/IpcBldc.h @ 397

Last change on this file since 397 was 397, checked in by Sanahuja Guillaume, 7 months ago

add ipc lib

  • Property svn:eol-style set to native
File size: 1.8 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 IpcBldc.h
7 * \brief Class for a ipc bldc
8 * \author Sébastien Ambroziak, Copyright Heudiasyc UMR UTC/CNRS 7253
9 * \date 2021/03/03
10 * \version 4.0
11 */
12
13#ifndef IPCBLDC_H
14#define IPCBLDC_H
15
16#include <Bldc.h>
17
18namespace flair {
19namespace core {
20class IODevice;
21}
22namespace gui {
23class Layout;
24}
25}
26
27template <typename T>
28class ShmSenderTab;
29
30namespace flair {
31namespace actuator {
32/*! \class IpcBldc
33*
34* \brief Class for an ipc bldc
35*
36*/
37class IpcBldc : public Bldc {
38public:
39  /*!
40  * \brief Constructor
41  *
42  * Construct an IpcBldc
43  *
44  * \param parent parent
45  * \param layout layout
46  * \param name name
47  * \param motors_count number of motors
48  * \param ipc_name name of the ipc
49  * \param ipc_channel ipc channel number
50  */
51  IpcBldc(const core::IODevice *parent, gui::Layout *layout, std::string name,
52           uint8_t motors_count, const char* ipc_name, int ipc_channel);
53
54  /*!
55  * \brief Destructor
56  *
57  */
58  ~IpcBldc();
59
60  /*!
61  * \brief Has speed measurement
62  *
63  * Reimplemented from Bldc. \n
64  *
65  * \return true if it has speed measurement
66  */
67  bool HasSpeedMeasurement(void) const { return false; };
68
69  /*!
70  * \brief Has current measurement
71  *
72  * Reimplemented from Bldc. \n
73  *
74  * \return true if it has current measurement
75  */
76  bool HasCurrentMeasurement(void) const { return false; };
77
78private:
79  /*!
80  * \brief Set motors values
81  *
82  * Reimplemented from Bldc. \n
83  * Values size must be the same as MotorsCount()
84  *
85  * \param values motor values
86  */
87  void SetMotors(float *value);
88 
89 
90  //IpcSenderTab<uint16_t> *sender;
91  ShmSenderTab<float> *sender;
92
93};
94} // end namespace actuator
95} // end namespace flair
96#endif // IPCBLDC_H
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