[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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[286] | 6 | * \file SimulatedBldc.h
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[3] | 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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[286] | 13 | #ifndef SIMULATEDBLDC_H
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| 14 | #define SIMULATEDBLDC_H
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[3] | 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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[3] | 22 | }
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[15] | 23 | namespace gui {
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| 24 | class DoubleSpinBox;
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| 25 | class Layout;
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| 26 | }
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| 27 | }
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[3] | 28 |
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[15] | 29 | namespace flair {
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| 30 | namespace actuator {
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[286] | 31 | /*! \class SimulatedBldc
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[15] | 32 | *
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| 33 | * \brief Class for a simulation bldc
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| 34 | *
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| 35 | */
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[286] | 36 | class SimulatedBldc : public Bldc {
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[15] | 37 | public:
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| 38 | /*!
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| 39 | * \brief Constructor
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| 40 | *
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[286] | 41 | * Construct a SimulatedBldc
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[15] | 42 | *
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| 43 | * \param parent parent
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| 44 | * \param layout layout
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| 45 | * \param name name
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| 46 | * \param motors_count number of motors
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[158] | 47 | * \param modelId Model id
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| 48 | * \param deviceId Bldc id of the Model
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[15] | 49 | */
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[286] | 50 | SimulatedBldc(const core::IODevice *parent, gui::Layout *layout, std::string name,
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[158] | 51 | uint8_t motors_count, uint32_t modelId,uint32_t deviceId);
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[3] | 52 |
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[15] | 53 | /*!
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| 54 | * \brief Destructor
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| 55 | *
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| 56 | */
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[286] | 57 | ~SimulatedBldc();
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[3] | 58 |
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[15] | 59 | /*!
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| 60 | * \brief Has speed measurement
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| 61 | *
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| 62 | * Reimplemented from Bldc. \n
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| 63 | *
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| 64 | * \return true if it has speed measurement
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| 65 | */
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| 66 | bool HasSpeedMeasurement(void) const { return false; };
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[3] | 67 |
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[15] | 68 | /*!
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| 69 | * \brief Has current measurement
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| 70 | *
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| 71 | * Reimplemented from Bldc. \n
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| 72 | *
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| 73 | * \return true if it has current measurement
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| 74 | */
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| 75 | bool HasCurrentMeasurement(void) const { return false; };
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[3] | 76 |
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[15] | 77 | private:
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| 78 | /*!
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| 79 | * \brief Set motors values
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| 80 | *
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| 81 | * Reimplemented from Bldc. \n
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| 82 | * Values size must be the same as MotorsCount()
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| 83 | *
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| 84 | * \param values motor values
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| 85 | */
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| 86 | void SetMotors(float *value);
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[158] | 87 |
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| 88 | std::string ShMemName(uint32_t modelId,uint32_t deviceId);
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[15] | 89 | core::SharedMem *shmem;
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| 90 | gui::DoubleSpinBox *k;
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[214] | 91 | char *buf;
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| 92 |
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[15] | 93 | };
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[3] | 94 | } // end namespace actuator
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| 95 | } // end namespace flair
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[286] | 96 | #endif // SIMULATEDBLDC_H
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