| [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 | /*!
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| 6 | * \file SimuBldc.h
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| 7 | * \brief Class for a simulation bldc
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| 8 | * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
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| 9 | * \date 2014/02/07
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| 10 | * \version 4.0
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| 11 | */
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| 12 |
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| 13 | #ifndef SIMUBLDC_H
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| 14 | #define SIMUBLDC_H
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| 15 |
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| 16 | #include <Bldc.h>
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| 17 |
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| [15] | 18 | namespace flair {
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| 19 | namespace core {
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| 20 | class SharedMem;
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| 21 | class IODevice;
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| [214] | 22 | class Matrix;
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| [3] | 23 | }
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| [15] | 24 | namespace gui {
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| 25 | class DoubleSpinBox;
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| 26 | class Layout;
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| 27 | }
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| 28 | }
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| [3] | 29 |
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| [15] | 30 | namespace flair {
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| 31 | namespace actuator {
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| 32 | /*! \class SimuBldc
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| 33 | *
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| 34 | * \brief Class for a simulation bldc
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| 35 | *
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| 36 | */
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| 37 | class SimuBldc : public Bldc {
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| 38 | public:
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| 39 | /*!
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| 40 | * \brief Constructor
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| 41 | *
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| 42 | * Construct a SimuBldc. Control part.
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| 43 | *
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| 44 | * \param parent parent
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| 45 | * \param layout layout
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| 46 | * \param name name
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| 47 | * \param motors_count number of motors
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| [158] | 48 | * \param modelId Model id
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| 49 | * \param deviceId Bldc id of the Model
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| [15] | 50 | */
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| 51 | SimuBldc(const core::IODevice *parent, gui::Layout *layout, std::string name,
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| [158] | 52 | uint8_t motors_count, uint32_t modelId,uint32_t deviceId);
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| [3] | 53 |
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| [15] | 54 | /*!
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| 55 | * \brief Constructor
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| 56 | *
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| 57 | * Construct a SimuBldc. Simulation part.
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| 58 | *
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| 59 | * \param parent parent
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| 60 | * \param name name
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| 61 | * \param motors_count number of motors
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| [158] | 62 | * \param modelId Model id
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| 63 | * \param deviceId Bldc id of the Model
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| [15] | 64 | */
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| 65 | SimuBldc(const core::Object *parent, std::string name, uint8_t motors_count,
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| [158] | 66 | uint32_t modelId,uint32_t deviceId);
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| [3] | 67 |
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| [15] | 68 | /*!
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| 69 | * \brief Destructor
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| 70 | *
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| 71 | */
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| 72 | ~SimuBldc();
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| [3] | 73 |
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| [15] | 74 | /*!
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| 75 | * \brief Get motors speeds.
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| 76 | *
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| 77 | * This function should only be used for the simulation part.
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| 78 | *
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| 79 | * \param value array to store motors speeds
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| [214] | 80 | * \param time time when shared memory was written
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| [15] | 81 | */
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| [214] | 82 | void GetSpeeds(float *value,core::Time* time) const;
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| [3] | 83 |
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| [15] | 84 | /*!
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| 85 | * \brief Has speed measurement
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| 86 | *
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| 87 | * Reimplemented from Bldc. \n
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| 88 | *
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| 89 | * \return true if it has speed measurement
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| 90 | */
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| 91 | bool HasSpeedMeasurement(void) const { return false; };
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| [3] | 92 |
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| [15] | 93 | /*!
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| 94 | * \brief Has current measurement
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| 95 | *
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| 96 | * Reimplemented from Bldc. \n
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| 97 | *
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| 98 | * \return true if it has current measurement
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| 99 | */
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| 100 | bool HasCurrentMeasurement(void) const { return false; };
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| [3] | 101 |
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| [15] | 102 | private:
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| 103 | /*!
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| 104 | * \brief Set motors values
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| 105 | *
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| 106 | * Reimplemented from Bldc. \n
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| 107 | * Values size must be the same as MotorsCount()
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| 108 | *
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| 109 | * \param values motor values
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| 110 | */
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| 111 | void SetMotors(float *value);
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| [158] | 112 |
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| 113 | std::string ShMemName(uint32_t modelId,uint32_t deviceId);
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| [15] | 114 | core::SharedMem *shmem;
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| 115 | gui::DoubleSpinBox *k;
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| [214] | 116 | char *buf;
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| 117 |
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| [15] | 118 | };
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| [3] | 119 | } // end namespace actuator
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| 120 | } // end namespace flair
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| 121 | #endif // SIMUBLDC_H
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