| 1 | // %flair:license{
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| 2 | // This file is part of the Flair framework distributed under the
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| 3 | // CECILL-C License, Version 1.0.
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| 4 | // %flair:license}
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| 5 | // created: 2013/11/14
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| 6 | // filename: Bldc.cpp
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| 7 | //
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| 8 | // author: Guillaume Sanahuja
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| 9 | // Copyright Heudiasyc UMR UTC/CNRS 7253
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| 10 | //
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| 11 | // version: $Id: $
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| 12 | //
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| 13 | // purpose: Virtual class for brushless drivers
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| 14 | //
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| 15 | //
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| 16 | /*********************************************************************/
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| 17 |
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| 18 | #include "Bldc.h"
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| 19 | #include "Bldc_impl.h"
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| 20 | #include <cvmatrix.h>
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| 21 | #include <DoubleSpinBox.h>
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| 22 | #include <sstream>
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| 23 |
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| 24 | using std::string;
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| 25 | using std::ostringstream;
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| 26 | using namespace flair::core;
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| 27 | using namespace flair::gui;
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| 28 |
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| 29 | namespace flair { namespace actuator {
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| 30 |
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| 31 | Bldc::Bldc(const IODevice* parent,Layout* layout,string name,uint8_t motors_count) : IODevice(parent,name) {
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| 32 | pimpl_=new Bldc_impl(this,layout,name,motors_count);
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| 33 |
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| 34 | cvmatrix_descriptor* desc=new cvmatrix_descriptor(motors_count,2);
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| 35 | for(int i=0;i<motors_count;i++) {
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| 36 | ostringstream speed,current;
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| 37 | speed << "speed_" << i;
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| 38 | desc->SetElementName(i,0,speed.str());
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| 39 |
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| 40 | current << "current_" << i;
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| 41 | desc->SetElementName(i,1,current.str());
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| 42 | }
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| 43 |
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| 44 | output=new cvmatrix(this,desc,floatType);
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| 45 | AddDataToLog(output);
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| 46 | }
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| 47 |
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| 48 | Bldc::Bldc(const Object* parent,string name,uint8_t motors_count) : IODevice(parent,name) {
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| 49 | pimpl_=new Bldc_impl(this,motors_count);
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| 50 | }
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| 51 |
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| 52 | Bldc::~Bldc() {
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| 53 | delete pimpl_;
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| 54 | }
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| 55 |
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| 56 | void Bldc::UpdateFrom(const io_data *data) {
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| 57 | pimpl_->UpdateFrom(data);
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| 58 | }
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| 59 |
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| 60 | void Bldc::LockUserInterface(void) const {
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| 61 | pimpl_->LockUserInterface();
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| 62 | }
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| 63 |
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| 64 | void Bldc::UnlockUserInterface(void) const {
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| 65 | pimpl_->UnlockUserInterface();
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| 66 | }
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| 67 |
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| 68 | Layout* Bldc::GetLayout(void) const {
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| 69 | return (Layout*)pimpl_->layout;
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| 70 | }
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| 71 |
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| 72 | void Bldc::UseDefaultPlot(TabWidget* tabwidget) {
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| 73 | pimpl_->UseDefaultPlot(tabwidget);
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| 74 | }
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| 75 |
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| 76 | uint8_t Bldc::MotorsCount(void) const {
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| 77 | return pimpl_->motors_count;
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| 78 | }
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| 79 |
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| 80 | cvmatrix *Bldc::Output(void) const {
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| 81 | return output;
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| 82 | }
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| 83 |
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| 84 | bool Bldc::AreEnabled(void) const {
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| 85 | return pimpl_->are_enabled;
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| 86 | }
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| 87 |
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| 88 | void Bldc::SetEnabled(bool status) {
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| 89 | if(pimpl_->are_enabled!=status) {
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| 90 | pimpl_->are_enabled=status;
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| 91 | if(pimpl_->are_enabled) {
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| 92 | LockUserInterface();
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| 93 | } else {
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| 94 | UnlockUserInterface();
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| 95 | }
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| 96 | }
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| 97 | }
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| 98 |
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| 99 | void Bldc::SetPower(int motor_id,float value) {
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| 100 | //use output mutex to avoid making a new mutex
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| 101 | output->GetMutex();
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| 102 | pimpl_->power[motor_id]=value;
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| 103 | output->ReleaseMutex();
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| 104 | }
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| 105 |
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| 106 | } // end namespace sensor
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| 107 | } // end namespace flair
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