[224] | 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: 2014/02/07
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| 6 | // filename: SimuBldc.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 bldc
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| 14 | //
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| 15 | //
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| 16 | /*********************************************************************/
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| 17 | #include "SimuBldc.h"
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| 18 | #include <SharedMem.h>
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| 19 | #include <sstream>
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| 20 | #include <string.h>
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| 21 |
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| 22 | using std::string;
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| 23 | using std::ostringstream;
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| 24 | using namespace flair::core;
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| 25 |
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| 26 | namespace flair {
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| 27 | namespace actuator {
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| 28 |
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| 29 |
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| 30 | SimuBldc::SimuBldc(const Object *parent, string name, uint8_t motors_count,
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| 31 | uint32_t modelId,uint32_t deviceId)
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| 32 | : IODevice(parent, name) {
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| 33 | shmem =
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| 34 | new SharedMem(this, ShMemName(modelId, deviceId), motors_count * sizeof(float)+sizeof(Time));
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| 35 |
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| 36 | buf=(char*)malloc(motors_count * sizeof(float)+sizeof(Time));
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| 37 | if(buf==NULL) {
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| 38 | Err("error creating buffer\n");
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| 39 | return;
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| 40 | }
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| 41 |
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| 42 | // reset values
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| 43 | float *values=(float*)buf;
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| 44 | for (int i = 0; i < motors_count; i++) values[i] = 0;
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| 45 | Time time=GetTime();
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| 46 | memcpy(buf+motors_count * sizeof(float),&time,sizeof(Time));
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| 47 |
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| 48 | shmem->Write(buf, motors_count * sizeof(float)+sizeof(Time));
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| 49 |
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| 50 | SetIsReady(true);
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| 51 | this->motors_count=motors_count;
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| 52 | }
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| 53 |
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| 54 | SimuBldc::~SimuBldc() {
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| 55 | if(buf!=NULL) free(buf);
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| 56 | }
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| 57 |
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| 58 | string SimuBldc::ShMemName(uint32_t modelId,uint32_t deviceId) {
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| 59 | ostringstream dev_name;
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| 60 | dev_name << "simu" << modelId << "_bldc_" << deviceId;
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| 61 | return dev_name.str().c_str();
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| 62 | }
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| 63 |
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| 64 |
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| 65 | void SimuBldc::GetSpeeds(float *value,Time* time) const {
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| 66 | float *values=(float*)buf;
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| 67 | shmem->Read(buf, motors_count * sizeof(float)+sizeof(Time));
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| 68 | memcpy(time,buf+motors_count * sizeof(float),sizeof(Time));
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| 69 |
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| 70 | for (int i = 0; i < motors_count; i++) {
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| 71 | value[i] = values[i];
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| 72 | }
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| 73 | }
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| 74 |
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| 75 | } // end namespace sensor
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| 76 | } // end namespace flair
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