source: flair-src/trunk/lib/FlairIpc/src/IpcBldc.h@ 420

Last change on this file since 420 was 397, checked in by Sanahuja Guillaume, 17 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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