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 | #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 | cvmatrix_descriptor *desc = new cvmatrix_descriptor(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 cvmatrix(this, desc, floatType); |
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56 | AddDataToLog(output); |
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57 | } |
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58 | |
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59 | Bldc::Bldc(const Object *parent, string name, uint8_t motors_count) |
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60 | : IODevice(parent, name) { |
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61 | pimpl_ = new Bldc_impl(this, motors_count); |
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62 | } |
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63 | |
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64 | Bldc::~Bldc() { delete pimpl_; } |
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65 | |
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66 | void Bldc::UpdateFrom(const io_data *data) { pimpl_->UpdateFrom(data); } |
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67 | |
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68 | void Bldc::LockUserInterface(void) const { pimpl_->LockUserInterface(); } |
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69 | |
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70 | void Bldc::UnlockUserInterface(void) const { pimpl_->UnlockUserInterface(); } |
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71 | |
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72 | Layout *Bldc::GetLayout(void) const { return (Layout *)pimpl_->layout; } |
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73 | |
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74 | void Bldc::UseDefaultPlot(TabWidget *tabwidget) { |
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75 | pimpl_->UseDefaultPlot(tabwidget); |
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76 | } |
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77 | |
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78 | uint8_t Bldc::MotorsCount(void) const { return pimpl_->motors_count; } |
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79 | |
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80 | cvmatrix *Bldc::Output(void) const { return output; } |
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81 | |
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82 | bool Bldc::AreEnabled(void) const { return pimpl_->are_enabled; } |
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83 | |
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84 | void Bldc::SetEnabled(bool status) { |
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85 | if (pimpl_->are_enabled != status) { |
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86 | pimpl_->are_enabled = status; |
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87 | if (pimpl_->are_enabled) { |
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88 | LockUserInterface(); |
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89 | } else { |
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90 | UnlockUserInterface(); |
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91 | } |
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92 | } |
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93 | } |
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94 | |
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95 | void Bldc::SetPower(int motor_id, float value) { |
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96 | // use output mutex to avoid making a new mutex |
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97 | output->GetMutex(); |
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98 | pimpl_->power[motor_id] = value; |
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99 | output->ReleaseMutex(); |
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100 | } |
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101 | |
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102 | } // end namespace sensor |
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103 | } // end namespace flair |
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