[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 | /*!
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| 6 | * \file SimulatedServos.h
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| 7 | * \brief Class for a simulation servos
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| 8 | * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
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| 9 | * \date 2019/11/28
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| 10 | * \version 4.0
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| 11 | */
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| 12 |
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| 13 | #ifndef SIMULATEDSERVOS_H
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| 14 | #define SIMULATEDSERVOS_H
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| 15 |
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| 16 | #include <Servos.h>
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| 17 |
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| 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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| 22 | }
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| 23 | }
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| 24 |
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| 25 | namespace flair {
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| 26 | namespace actuator {
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| 27 | /*! \class SimulatedServos
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| 28 | *
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| 29 | * \brief Class for a simulation bldc
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| 30 | *
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| 31 | */
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| 32 | class SimulatedServos : public Servos {
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| 33 | public:
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| 34 | /*!
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| 35 | * \brief Constructor
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| 36 | *
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| 37 | * Construct a SimulatedServos
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| 38 | *
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| 39 | * \param parent parent
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| 40 | * \param layout layout
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| 41 | * \param name name
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| 42 | * \param servos_count number of servos
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| 43 | * \param modelId Model id
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| 44 | * \param deviceId Bldc id of the Model
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| 45 | */
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| 46 | SimulatedServos(const core::IODevice *parent, gui::Layout *layout, std::string name,
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| 47 | uint8_t servos_count, uint32_t modelId,uint32_t deviceId);
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| 48 |
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| 49 | /*!
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| 50 | * \brief Destructor
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| 51 | *
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| 52 | */
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| 53 | ~SimulatedServos();
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| 54 |
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| 55 | private:
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| 56 | /*!
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| 57 | * \brief Set servos positions
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| 58 | *
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| 59 | * Reimplemented from Servos. \n
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| 60 | * Values size must be the same as ServosCount()
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| 61 | *
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| 62 | * \param positions positions values
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| 63 | */
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| 64 | void SetServos(float *positions);
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| 65 |
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| 66 | std::string ShMemName(uint32_t modelId,uint32_t deviceId);
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| 67 | core::SharedMem *shmem;
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| 68 | char *buf;
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| 69 |
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| 70 | };
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| 71 | } // end namespace actuator
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| 72 | } // end namespace flair
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| 73 | #endif // SIMULATEDSERVOS_H
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