source: flair-src/trunk/lib/FlairSensorActuator/src/SimulatedBldc.cpp

Last change on this file was 286, checked in by Sanahuja Guillaume, 3 years ago

draw vrpn axis in simulator

File size: 2.2 KB
Line 
1// %flair:license{
2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
4// %flair:license}
5// created: 2014/02/07
6// filename: SimulatedBldc.cpp
7//
8// author: Guillaume Sanahuja
9// Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11// version: $Id: $
12//
13// purpose: Class for a simulation bldc
14//
15//
16/*********************************************************************/
17#ifdef CORE2_64
18
19#include "SimulatedBldc.h"
20#include <FrameworkManager.h>
21#include <GridLayout.h>
22#include <DoubleSpinBox.h>
23#include <GroupBox.h>
24#include <SharedMem.h>
25#include <Matrix.h>
26#include <sstream>
27#include <string.h>
28
29using std::string;
30using std::ostringstream;
31using namespace flair::core;
32using namespace flair::gui;
33
34namespace flair {
35namespace actuator {
36
37SimulatedBldc::SimulatedBldc(const IODevice *parent, Layout *layout, string name,
38 uint8_t motors_count, uint32_t modelId,uint32_t deviceId)
39 : Bldc(parent, layout, name, motors_count) {
40 shmem =
41 new SharedMem(this, ShMemName(modelId, deviceId), motors_count * sizeof(float)+sizeof(Time));
42
43 GroupBox *groupbox = new GroupBox(layout->NewRow(), "simubldc");
44 k = new DoubleSpinBox(groupbox->NewRow(), "k driver:", 0, 10000, 1);
45
46 buf=(char*)malloc(motors_count * sizeof(float)+sizeof(Time));
47 if(buf==NULL) {
48 Err("error creating buffer\n");
49 return;
50 }
51 SetIsReady(true);
52}
53
54SimulatedBldc::~SimulatedBldc() {
55 if(buf!=NULL) free(buf);
56}
57
58string SimulatedBldc::ShMemName(uint32_t modelId,uint32_t deviceId) {
59 ostringstream dev_name;
60 dev_name << "simu" << modelId << "_bldc_" << deviceId;
61 return dev_name.str().c_str();
62}
63
64void SimulatedBldc::SetMotors(float *value) {
65 float *values=(float*)buf;
66 for (int i = 0; i < MotorsCount(); i++) values[i] = k->Value() * value[i];
67 Time time=GetTime();
68 memcpy(buf+MotorsCount() * sizeof(float),&time,sizeof(Time));
69
70 shmem->Write(buf, MotorsCount() * sizeof(float)+sizeof(Time));
71
72 // on prend une fois pour toute le mutex et on fait des accès directs
73 output->GetMutex();
74 for (int i = 0; i < MotorsCount(); i++) {
75 output->SetValueNoMutex(i, 0, values[i]);
76 }
77 output->ReleaseMutex();
78}
79
80} // end namespace sensor
81} // end namespace flair
82
83#endif
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