SimuBldc.h

Go to the documentation of this file.

// %flair:license{
// This file is part of the Flair framework distributed under the
// CECILL-C License, Version 1.0.
// %flair:license}
#ifndef SIMUBLDC_H
#define SIMUBLDC_H

#include <IODevice.h>

namespace flair {
namespace core {
class SharedMem;
}
}

namespace flair {
namespace actuator {
class SimuBldc : public core::IODevice {
public:
  SimuBldc(const core::Object *parent, std::string name, uint8_t motors_count,
           uint32_t modelId,uint32_t deviceId);

  ~SimuBldc();

  void GetSpeeds(float *value,core::Time* time) const;


private:
  void UpdateFrom(const core::io_data *data){};
  std::string ShMemName(uint32_t modelId,uint32_t deviceId);
  core::SharedMem *shmem;
  char *buf;
  uint8_t motors_count;

};
} // end namespace actuator
} // end namespace flair
#endif // SIMUBLDC_H