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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 SimuServos.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 2019/11/27
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10 | * \version 4.0
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11 | */
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12 |
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13 | #ifndef SIMUSERVOS_H
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14 | #define SIMUSERVOS_H
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15 |
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16 | #include <IODevice.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 | }
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22 | }
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23 |
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24 | namespace flair {
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25 | namespace actuator {
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26 | /*! \class SimuServos
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27 | *
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28 | * \brief Class for a simulation bldc
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29 | *
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30 | */
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31 | class SimuServos : public core::IODevice {
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32 | public:
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33 | /*!
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34 | * \brief Constructor
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35 | *
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36 | * Construct a SimuServos
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37 | *
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38 | * \param parent parent
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39 | * \param name name
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40 | * \param servos_count number of servos
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41 | * \param modelId Model id
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42 | * \param deviceId servos id of the Model
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43 | */
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44 | SimuServos(const core::Object *parent, std::string name, uint8_t servos_count,
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45 | uint32_t modelId,uint32_t deviceId);
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46 |
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47 | /*!
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48 | * \brief Destructor
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49 | *
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50 | */
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51 | ~SimuServos();
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52 |
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53 | /*!
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54 | * \brief Get servos positions
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55 | *
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56 | *
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57 | * \param value array to store servos positions
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58 | * \param time time when shared memory was written
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59 | */
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60 | void GetPositions(float *value,core::Time* time) const;
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61 |
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62 |
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63 | private:
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64 | /*!
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65 | * \brief Update using provided datas
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66 | *
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67 | * Reimplemented from IODevice.
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68 | *
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69 | * \param data data from the parent to process
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70 | */
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71 | void UpdateFrom(const core::io_data *data){};
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72 | std::string ShMemName(uint32_t modelId,uint32_t deviceId);
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73 | core::SharedMem *shmem;
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74 | char *buf;
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75 | uint8_t servos_count;
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76 |
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77 | };
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78 | } // end namespace actuator
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79 | } // end namespace flair
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80 | #endif // SIMUSERVOS_H
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