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