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: 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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31 | namespace flair {
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32 | namespace actuator {
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33 |
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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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41 |
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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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44 | }
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45 |
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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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53 |
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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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58 |
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59 | shmem->Write((char *)&values, motors_count * sizeof(float));
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60 | }
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61 |
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62 | SimuBldc::~SimuBldc() {}
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63 |
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64 | void SimuBldc::SetMotors(float *value) {
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65 | float values[MotorsCount()];
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66 |
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67 | for (int i = 0; i < MotorsCount(); i++)
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68 | values[i] = k->Value() * value[i];
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69 |
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70 | shmem->Write((char *)&values, MotorsCount() * sizeof(float));
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71 |
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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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77 | }
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78 |
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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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82 |
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83 | for (int i = 0; i < MotorsCount(); i++)
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84 | value[i] = values[i];
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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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