From 017bbe7d7d235097ae0ff51a3c9efbbe8398198a Mon Sep 17 00:00:00 2001
From: Fredrik Bagge Carlson <cont-frb@ulund.org>
Date: Sun, 20 Aug 2017 20:45:29 +0200
Subject: [PATCH] Draft interface and BallAndBeam implementation
---
README.md | 6 +-----
c/Makefile | 15 ++++++++++++++
c/comedi_bridge.c | 38 +++++++++++++++++++++++++++++++++++
c/comedi_bridge.o | Bin 0 -> 3096 bytes
c/comedi_bridge.so | Bin 0 -> 8576 bytes
src/LabProcesses.jl | 48 +++++++++++++++++++++++++++++++++++++++++++-
6 files changed, 101 insertions(+), 6 deletions(-)
create mode 100644 c/Makefile
create mode 100644 c/comedi_bridge.c
create mode 100644 c/comedi_bridge.o
create mode 100644 c/comedi_bridge.so
diff --git a/README.md b/README.md
index 58ac930..1c9641c 100644
--- a/README.md
+++ b/README.md
@@ -1,7 +1,3 @@
# LabProcesses
-[](https://travis-ci.org/baggepinnen/LabProcesses.jl)
-
-[](https://coveralls.io/github/baggepinnen/LabProcesses.jl?branch=master)
-
-[](http://codecov.io/github/baggepinnen/LabProcesses.jl?branch=master)
+Under development /Bagge
diff --git a/c/Makefile b/c/Makefile
new file mode 100644
index 0000000..2983d11
--- /dev/null
+++ b/c/Makefile
@@ -0,0 +1,15 @@
+CC=gcc
+
+CFLAGS=-c -Wall -fPIC
+
+SOURCES=comedi_bridge.c
+OBJECTS=$(SOURCES:.c=.o)
+
+.c.o:
+ $(CC) $(CFLAGS) $< -o $@
+
+lib: $(OBJECTS)
+ $(CC) -shared -fPIC -lcomedi -lm -o comedi_bridge.so $(OBJECTS)
+
+clean:
+ rm *.o *.so
diff --git a/c/comedi_bridge.c b/c/comedi_bridge.c
new file mode 100644
index 0000000..c03c2f5
--- /dev/null
+++ b/c/comedi_bridge.c
@@ -0,0 +1,38 @@
+#include <stdio.h> /* for printf() */
+#include <comedilib.h>
+
+int range = 0;
+int aref = AREF_GROUND;
+comedi_t *it;
+
+int comedi_write(int comediNbr, int subdev, int chan, int writeValue) {
+ static int retval;
+ retval = comedi_data_write(it, subdev, chan, range, aref, writeValue);
+ return retval;
+}
+
+int comedi_read(int comediNbr, int subdev, int chan) {
+ lsampl_t data;
+ comedi_data_read(it, subdev, chan, range, aref, &data);
+ return data;
+}
+
+int comedi_start(int comediNbr) {
+ it = comedi_open("/dev/comedi0");
+ if(it == NULL)
+ {
+ comedi_perror("comedi_open_error");
+ return -1;
+ }
+ return 0;
+}
+
+void comedi_stop(int comediNbr) {
+ // Ad-hoc. Should be updated:
+ comedi_data_write(it, 1, 0, range, aref, 32767);
+ comedi_data_write(it, 1, 1, range, aref, 32767);
+ comedi_close(it);
+}
+
+
+
diff --git a/c/comedi_bridge.o b/c/comedi_bridge.o
new file mode 100644
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diff --git a/c/comedi_bridge.so b/c/comedi_bridge.so
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diff --git a/src/LabProcesses.jl b/src/LabProcesses.jl
index 0ede134..1c963b0 100644
--- a/src/LabProcesses.jl
+++ b/src/LabProcesses.jl
@@ -1,5 +1,51 @@
module LabProcesses
-# package code goes here
+# Interface specification ===================================================================
+abstract type AbstractProcess end
+abstract type PhycicalProcess <: AbstractProcess end
+abstract type SimulatedProcess <: AbstractProcess end
+
+num_outputs(p::AbstractProcess) = p.ny
+num_inputs(p::AbstractProcess) = p.nu
+outputrange(p::AbstractProcess) = error("Function not implemented for $(typeof(p))")
+inputrange(p::AbstractProcess) = error("Function not implemented for $(typeof(p))")
+isstable(p::AbstractProcess) = error("Function not implemented for $(typeof(p))")
+sampletime(p::AbstractProcess) = error("Function not implemented for $(typeof(p))")
+
+control(p::AbstractProcess, u) = error("Function not implemented for $(typeof(p))")
+measure(p::AbstractProcess) = error("Function not implemented for $(typeof(p))")
+
+
+# Interface implementation Ball And Beam ====================================================
+
+struct BallAndBeam <: PhysicalProcess
+ h::Float64
+end
+
+struct BallAndBeamSimulator <: SimulatedProcess
+ h::Float64
+end
+
+const BallAndBeamType = Union{BallAndBeam, BallAndBeamSimulator}
+num_outputs(p::BallAndBeamType) = 2
+num_inputs(p::BallAndBeamType) = 1
+outputrange(p::BallAndBeamType) = [(-10,10)]
+inputrange(p::BallAndBeamType) = [(-10,10)]
+isstable(p::BallAndBeamType) = false
+sampletime(p::BallAndBeamType) = p.h
+
+control(p::BallAndBeam, u) = ccall((:comedi_write, comedipath),Int32,
+ (Int32,Int32,Int32,Int32),0,1,1,num2io(u[1]))
+measure(p::BallAndBeam) = io2num(ccall((:comedi_read,comedipath), Int32,
+ (Int32,Int32,Int32), 0,0,0))
+
+const comedipath = "../c/comedi_bridge.so"
+const conversion = 65535/20
+io2num(x) = x/conversion -10 # Converts from io to float
+num2io(x) = round(Int32,x*100 + 2050) # Converts from regular number to io
+
+control(p::BallAndBeamSimulator, u) = error("Not yet implemented")
+measure(p::BallAndBeamSimulator) = error("Not yet implemented")
+
end # module
--
GitLab