source: flair-src/trunk/lib/FlairSensorActuator/src/Bldc.cpp

Last change on this file was 376, checked in by Sanahuja Guillaume, 10 months ago

up ugv

File size: 2.5 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//  created:    2013/11/14
6//  filename:   Bldc.cpp
7//
8//  author:     Guillaume Sanahuja
9//              Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11//  version:    $Id: $
12//
13//  purpose:    Virtual class for brushless drivers
14//
15//
16/*********************************************************************/
17
18#include "Bldc.h"
19#include "Bldc_impl.h"
20#include <Matrix.h>
21#include <DoubleSpinBox.h>
22#include <sstream>
23#include "compile_info.h"
24
25//todo: put it on seprate file, but not possible with static lib?
26static void constructor() __attribute__((constructor));
27
28void constructor() {
29  compile_info("FlairSensorActuator");
30}
31
32using std::string;
33using std::ostringstream;
34using namespace flair::core;
35using namespace flair::gui;
36
37namespace flair {
38namespace actuator {
39
40Bldc::Bldc(const IODevice *parent, Layout *layout, string name,
41           uint8_t motors_count)
42    : IODevice(parent, name) {
43  pimpl_ = new Bldc_impl(this, layout, name, motors_count);
44
45  MatrixDescriptor *desc = new MatrixDescriptor(motors_count, 2);
46  for (int i = 0; i < motors_count; i++) {
47    ostringstream speed, current;
48    speed << "speed_" << i;
49    desc->SetElementName(i, 0, speed.str());
50
51    current << "current_" << i;
52    desc->SetElementName(i, 1, current.str());
53  }
54
55  output = new Matrix(this, desc, floatType);
56  delete desc;
57  AddDataToLog(output);
58}
59
60Bldc::~Bldc() { delete pimpl_; }
61
62void Bldc::UpdateFrom(const io_data *data) { pimpl_->UpdateFrom(data); }
63
64void Bldc::LockUserInterface(void) const { pimpl_->LockUserInterface(); }
65
66void Bldc::UnlockUserInterface(void) const { pimpl_->UnlockUserInterface(); }
67
68Layout *Bldc::GetLayout(void) const { return (Layout *)pimpl_->layout; }
69
70void Bldc::UseDefaultPlot(TabWidget *tabwidget) {
71  pimpl_->UseDefaultPlot(tabwidget);
72}
73
74uint8_t Bldc::MotorsCount(void) const { return pimpl_->motors_count; }
75
76Matrix *Bldc::Output(void) const { return output; }
77
78bool Bldc::AreEnabled(void) const { return pimpl_->are_enabled; }
79
80void Bldc::SetEnabled(bool status) {
81  if (pimpl_->are_enabled != status) {
82    pimpl_->are_enabled = status;
83    if (pimpl_->are_enabled) {
84      LockUserInterface();
85    } else {
86      UnlockUserInterface();
87    }
88  }
89}
90
91void Bldc::SetPower(int motor_id, float value) {
92  // use output mutex to avoid making a new mutex
93  output->GetMutex();
94  pimpl_->power[motor_id] = value;
95  output->ReleaseMutex();
96}
97
98} // end namespace actuator
99} // end namespace flair
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