Changeset 15 in flair-src for trunk/lib/FlairSensorActuator/src/SimuBldc.cpp

Timestamp:

Apr 8, 2016, 3:40:57 PM (9 years ago)

Author:

Bayard Gildas

Message:

sources reformatted with flair-format-dir script

File:

• trunk/lib/FlairSensorActuator/src/SimuBldc.cpp (modified) (1 diff)

trunk/lib/FlairSensorActuator/src/SimuBldc.cpp

@@ -29 +29 @@
 using namespace flair::gui;
 
-namespace flair
-{
-namespace actuator
-{
+namespace flair {
+namespace actuator {
 
-SimuBldc::SimuBldc(const IODevice* parent,Layout* layout,string name,uint8_t motors_count,uint32_t dev_id) :Bldc(parent,layout,name,motors_count)
-{
-    ostringstream dev_name;
-    dev_name << "simu_bldc_" << dev_id;
-    shmem=new SharedMem(this,dev_name.str().c_str(),motors_count*sizeof(float));
+SimuBldc::SimuBldc(const IODevice *parent, Layout *layout, string name,
+                   uint8_t motors_count, uint32_t dev_id)
+    : Bldc(parent, layout, name, motors_count) {
+  ostringstream dev_name;
+  dev_name << "simu_bldc_" << dev_id;
+  shmem =
+      new SharedMem(this, dev_name.str().c_str(), motors_count * sizeof(float));
 
-    GroupBox *groupbox=new GroupBox(layout->NewRow(),"simubldc");
-    k=new DoubleSpinBox(groupbox->NewRow(),"k driver:",0,10000,1);
+  GroupBox *groupbox = new GroupBox(layout->NewRow(), "simubldc");
+  k = new DoubleSpinBox(groupbox->NewRow(), "k driver:", 0, 10000, 1);
 }
 
-SimuBldc::SimuBldc(const Object* parent,string name,uint8_t motors_count,uint32_t dev_id) :Bldc(parent,name,motors_count) {
-    ostringstream dev_name;
-    dev_name << "simu_bldc_" << dev_id;
-    shmem=new SharedMem(this,dev_name.str().c_str(),motors_count*sizeof(float));
+SimuBldc::SimuBldc(const Object *parent, string name, uint8_t motors_count,
+                   uint32_t dev_id)
+    : Bldc(parent, name, motors_count) {
+  ostringstream dev_name;
+  dev_name << "simu_bldc_" << dev_id;
+  shmem =
+      new SharedMem(this, dev_name.str().c_str(), motors_count * sizeof(float));
 
-    //reset values
-    float values[motors_count];
-    for(int i=0;i<motors_count;i++) values[i]=0;
+  // reset values
+  float values[motors_count];
+  for (int i = 0; i < motors_count; i++)
+    values[i] = 0;
 
-    shmem->Write((char*)&values,motors_count*sizeof(float));
+  shmem->Write((char *)&values, motors_count * sizeof(float));
 }
 
-SimuBldc::~SimuBldc() {
+SimuBldc::~SimuBldc() {}
+
+void SimuBldc::SetMotors(float *value) {
+  float values[MotorsCount()];
+
+  for (int i = 0; i < MotorsCount(); i++)
+    values[i] = k->Value() * value[i];
+
+  shmem->Write((char *)&values, MotorsCount() * sizeof(float));
+
+  // on prend une fois pour toute le mutex et on fait des accès directs
+  output->GetMutex();
+  for (int i = 0; i < MotorsCount(); i++)
+    output->SetValueNoMutex(i, 0, values[i]);
+  output->ReleaseMutex();
 }
 
-void SimuBldc::SetMotors(float* value) {
-    float values[MotorsCount()];
+void SimuBldc::GetSpeeds(float *value) const {
+  float values[MotorsCount()];
+  shmem->Read((char *)&values, MotorsCount() * sizeof(float));
 
-    for(int i=0;i<MotorsCount();i++) values[i]=k->Value()*value[i];
-
-    shmem->Write((char*)&values,MotorsCount()*sizeof(float));
-
-    //on prend une fois pour toute le mutex et on fait des accès directs
-    output->GetMutex();
-    for(int i=0;i<MotorsCount();i++) output->SetValueNoMutex(i,0,values[i]);
-    output->ReleaseMutex();
-}
-
-void SimuBldc::GetSpeeds(float* value) const {
-    float values[MotorsCount()];
-    shmem->Read((char*)&values,MotorsCount()*sizeof(float));
-
-    for(int i=0;i<MotorsCount();i++) value[i]=values[i];
+  for (int i = 0; i < MotorsCount(); i++)
+    value[i] = values[i];
 }