Flair
Framework Libre Air
SimuBldc.h
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1 // %flair:license{
2 // This file is part of the Flair framework distributed under the
3 // CECILL-C License, Version 1.0.
4 // %flair:license}
13 #ifndef SIMUBLDC_H
14 #define SIMUBLDC_H
15 
16 #include <Bldc.h>
17 
18 namespace flair {
19 namespace core {
20 class SharedMem;
21 class IODevice;
22 class Matrix;
23 }
24 namespace gui {
25 class DoubleSpinBox;
26 class Layout;
27 }
28 }
29 
30 namespace flair {
31 namespace actuator {
37 class SimuBldc : public Bldc {
38 public:
51  SimuBldc(const core::IODevice *parent, gui::Layout *layout, std::string name,
52  uint8_t motors_count, uint32_t modelId,uint32_t deviceId);
53 
65  SimuBldc(const core::Object *parent, std::string name, uint8_t motors_count,
66  uint32_t modelId,uint32_t deviceId);
67 
72  ~SimuBldc();
73 
82  void GetSpeeds(float *value,core::Time* time) const;
83 
91  bool HasSpeedMeasurement(void) const { return false; };
92 
100  bool HasCurrentMeasurement(void) const { return false; };
101 
102 private:
111  void SetMotors(float *value);
112 
113  std::string ShMemName(uint32_t modelId,uint32_t deviceId);
114  core::SharedMem *shmem;
116  char *buf;
117 
118 };
119 } // end namespace actuator
120 } // end namespace flair
121 #endif // SIMUBLDC_H
void GetSpeeds(float *value, core::Time *time) const
Get motors speeds.
Base class for all Framework's classes.
Definition: Object.h:77
Abstract class for input/ouput system.
Definition: IODevice.h:45
namespace of the flair Framework
Definition: Ahrs.h:19
unsigned long long Time
Time definition, in ns.
Definition: Object.h:49
SimuBldc(const core::IODevice *parent, gui::Layout *layout, std::string name, uint8_t motors_count, uint32_t modelId, uint32_t deviceId)
Constructor.
Class for a simulation bldc.
Definition: SimuBldc.h:37
Abstract class to display a layout on the ground station.
Definition: Layout.h:33
Class defining a shared memory.
Definition: SharedMem.h:32
Class displaying a QDoubleSpinBox on the ground station.
Definition: DoubleSpinBox.h:28
Base class for brushless motors drivers.
Definition: Bldc.h:37
bool HasSpeedMeasurement(void) const
Has speed measurement.
Definition: SimuBldc.h:91
bool HasCurrentMeasurement(void) const
Has current measurement.
Definition: SimuBldc.h:100
Base class for brushless motors drivers.