[3] | 1 | // %flair:license{
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[15] | 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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[3] | 4 | // %flair:license}
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| 5 | // created: 2014/02/07
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| 6 | // filename: SimuBldc.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: Class for a simulation bldc
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| 14 | //
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| 15 | //
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| 16 | /*********************************************************************/
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| 17 | #include "SimuBldc.h"
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| 18 | #include <FrameworkManager.h>
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| 19 | #include <GridLayout.h>
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| 20 | #include <DoubleSpinBox.h>
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| 21 | #include <GroupBox.h>
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| 22 | #include <SharedMem.h>
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| 23 | #include <cvmatrix.h>
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| 24 | #include <sstream>
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| 25 |
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| 26 | using std::string;
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| 27 | using std::ostringstream;
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| 28 | using namespace flair::core;
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| 29 | using namespace flair::gui;
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| 30 |
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[15] | 31 | namespace flair {
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| 32 | namespace actuator {
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[3] | 33 |
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[15] | 34 | SimuBldc::SimuBldc(const IODevice *parent, Layout *layout, string name,
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| 35 | uint8_t motors_count, uint32_t dev_id)
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| 36 | : Bldc(parent, layout, name, motors_count) {
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| 37 | ostringstream dev_name;
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| 38 | dev_name << "simu_bldc_" << dev_id;
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| 39 | shmem =
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| 40 | new SharedMem(this, dev_name.str().c_str(), motors_count * sizeof(float));
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[3] | 41 |
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[15] | 42 | GroupBox *groupbox = new GroupBox(layout->NewRow(), "simubldc");
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| 43 | k = new DoubleSpinBox(groupbox->NewRow(), "k driver:", 0, 10000, 1);
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[3] | 44 | }
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| 45 |
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[15] | 46 | SimuBldc::SimuBldc(const Object *parent, string name, uint8_t motors_count,
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| 47 | uint32_t dev_id)
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| 48 | : Bldc(parent, name, motors_count) {
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| 49 | ostringstream dev_name;
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| 50 | dev_name << "simu_bldc_" << dev_id;
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| 51 | shmem =
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| 52 | new SharedMem(this, dev_name.str().c_str(), motors_count * sizeof(float));
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[3] | 53 |
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[15] | 54 | // reset values
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| 55 | float values[motors_count];
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| 56 | for (int i = 0; i < motors_count; i++)
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| 57 | values[i] = 0;
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[3] | 58 |
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[15] | 59 | shmem->Write((char *)&values, motors_count * sizeof(float));
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[3] | 60 | }
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| 61 |
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[15] | 62 | SimuBldc::~SimuBldc() {}
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[3] | 63 |
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[15] | 64 | void SimuBldc::SetMotors(float *value) {
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| 65 | float values[MotorsCount()];
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[3] | 66 |
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[15] | 67 | for (int i = 0; i < MotorsCount(); i++)
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| 68 | values[i] = k->Value() * value[i];
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[3] | 69 |
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[15] | 70 | shmem->Write((char *)&values, MotorsCount() * sizeof(float));
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[3] | 71 |
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[15] | 72 | // on prend une fois pour toute le mutex et on fait des accès directs
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| 73 | output->GetMutex();
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| 74 | for (int i = 0; i < MotorsCount(); i++)
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| 75 | output->SetValueNoMutex(i, 0, values[i]);
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| 76 | output->ReleaseMutex();
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[3] | 77 | }
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| 78 |
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[15] | 79 | void SimuBldc::GetSpeeds(float *value) const {
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| 80 | float values[MotorsCount()];
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| 81 | shmem->Read((char *)&values, MotorsCount() * sizeof(float));
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[3] | 82 |
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[15] | 83 | for (int i = 0; i < MotorsCount(); i++)
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| 84 | value[i] = values[i];
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[3] | 85 | }
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| 86 |
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| 87 | } // end namespace sensor
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| 88 | } // end namespace flair
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