[340] | 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: 2019/11/28
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| 6 | // filename: SimulatedServos.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 servos
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| 14 | //
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| 15 | //
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| 16 | /*********************************************************************/
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| 17 | #ifdef CORE2_64
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| 18 |
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| 19 | #include "SimulatedServos.h"
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| 20 | #include <FrameworkManager.h>
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| 21 | #include <SharedMem.h>
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| 22 | #include <Matrix.h>
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| 23 | #include <sstream>
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| 24 | #include <string.h>
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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 | SimulatedServos::SimulatedServos(const IODevice *parent, Layout *layout, string name,
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| 35 | uint8_t servos_count, uint32_t modelId,uint32_t deviceId)
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| 36 | : Servos(parent, layout, name, servos_count) {
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| 37 | shmem =
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| 38 | new SharedMem(this, ShMemName(modelId, deviceId), servos_count * sizeof(float)+sizeof(Time));
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| 39 |
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| 40 |
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| 41 | buf=(char*)malloc(servos_count * sizeof(float)+sizeof(Time));
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| 42 | if(buf==NULL) {
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| 43 | Err("error creating buffer\n");
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| 44 | return;
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| 45 | }
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| 46 | SetIsReady(true);
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| 47 | }
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| 48 |
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| 49 | SimulatedServos::~SimulatedServos() {
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| 50 | if(buf!=NULL) free(buf);
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| 51 | }
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| 52 |
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| 53 | string SimulatedServos::ShMemName(uint32_t modelId,uint32_t deviceId) {
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| 54 | ostringstream dev_name;
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| 55 | dev_name << "simu" << modelId << "_servos_" << deviceId;
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| 56 | return dev_name.str().c_str();
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| 57 | }
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| 58 |
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| 59 | void SimulatedServos::SetServos(float *position) {
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| 60 | float *values=(float*)buf;
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| 61 | for (int i = 0; i < ServosCount(); i++) values[i] = position[i];
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| 62 | Time time=GetTime();
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| 63 | memcpy(buf+ServosCount() * sizeof(float),&time,sizeof(Time));
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| 64 |
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| 65 | shmem->Write(buf, ServosCount() * sizeof(float)+sizeof(Time));
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| 66 |
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| 67 | }
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| 68 |
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| 69 | } // end namespace sensor
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| 70 | } // end namespace flair
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| 71 |
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| 72 | #endif |
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