Changeset 224 in flair-src for trunk/lib/FlairSensorActuator/src/SimuBldc.cpp

Timestamp:

03/06/18 12:12:58 (6 years ago)

Author:

Sanahuja Guillaume

Message:

maj for armv5te

File:

• trunk/lib/FlairSensorActuator/src/SimuBldc.cpp (modified) (2 diffs)

trunk/lib/FlairSensorActuator/src/SimuBldc.cpp

@@ -50 +50 @@
 }
 
-SimuBldc::SimuBldc(const Object *parent, string name, uint8_t motors_count,
-                   uint32_t modelId,uint32_t deviceId)
-    : Bldc(parent, name, motors_count) {
-  shmem =
-      new SharedMem(this, ShMemName(modelId, deviceId), motors_count * sizeof(float)+sizeof(Time));
-      
-  buf=(char*)malloc(motors_count * sizeof(float)+sizeof(Time));
-  if(buf==NULL) {
-    Err("error creating buffer\n");
-    return;
-  } 
-  
-  // reset values
-  float *values=(float*)buf;
-  for (int i = 0; i < motors_count; i++) values[i] = 0;
-  Time time=GetTime();
-  memcpy(buf+motors_count * sizeof(float),&time,sizeof(Time));
-
-  shmem->Write(buf, motors_count * sizeof(float)+sizeof(Time));
-  
-  SetIsReady(true);
-}
-
 SimuBldc::~SimuBldc() {
   if(buf!=NULL) free(buf);
@@ -99 +76 @@
 }
 
-void SimuBldc::GetSpeeds(float *value,Time* time) const {
-  float *values=(float*)buf;
-  shmem->Read(buf, MotorsCount() * sizeof(float)+sizeof(Time));
-  memcpy(time,buf+MotorsCount() * sizeof(float),sizeof(Time));
-
-  for (int i = 0; i < MotorsCount(); i++) {
-    value[i] = values[i];
-  }
-}
-
 } // end namespace sensor
 } // end namespace flair