From 23c78b4d61122dbbb27fbc75564b02fc0ca5b95e Mon Sep 17 00:00:00 2001
From: Fredrik Bagge Carlsson <cont-frb@ulund.org>
Date: Mon, 21 Aug 2017 09:58:18 +0200
Subject: [PATCH] Bugfixes from lab
---
src/LabProcesses.jl | 2 +-
src/controllers.jl | 4 +---
src/interface_implementations/ballandbeam.jl | 4 ++--
src/utilities.jl | 2 +-
4 files changed, 5 insertions(+), 7 deletions(-)
diff --git a/src/LabProcesses.jl b/src/LabProcesses.jl
index e7cc583..83713b7 100644
--- a/src/LabProcesses.jl
+++ b/src/LabProcesses.jl
@@ -1,4 +1,4 @@
-__precompile__()
+#__precompile__()
module LabProcesses
diff --git a/src/controllers.jl b/src/controllers.jl
index 80b00da..eef0983 100644
--- a/src/controllers.jl
+++ b/src/controllers.jl
@@ -15,10 +15,8 @@ function run_control_2DOF(P::AbstractProcess,sysFB, sysFF=nothing; duration = 10
u = zeros(0:h:duration)
r = zeros(0:h:duration)
- sysFB = minreal(sysFB)
stateFB = init_sysfilter(sysFB)
if sysFF != nothing
- sysFF = minreal(sysFF)
stateFF = init_sysfilter(sysFF)
end
@@ -33,7 +31,7 @@ function run_control_2DOF(P::AbstractProcess,sysFB, sysFF=nothing; duration = 10
@periodically h begin
y[i] = measure(P)
r[i] = reference(t)
- u[i] = control(i) # y,r must be updated before u
+ u[i] .= control(i) # y,r must be updated before u
control(P, u[i])
end
end
diff --git a/src/interface_implementations/ballandbeam.jl b/src/interface_implementations/ballandbeam.jl
index e06bda5..76d3d75 100644
--- a/src/interface_implementations/ballandbeam.jl
+++ b/src/interface_implementations/ballandbeam.jl
@@ -29,12 +29,12 @@ measure(p::BallAndBeam) = io2num(ccall((:comedi_read,comedipath), Int32,
control(p::BallAndBeamSimulator, u) = error("Not yet implemented")
measure(p::BallAndBeamSimulator) = error("Not yet implemented")
-const comedipath = "../c/comedi_bridge.so"
+const comedipath = Pkg.dir("LabProcesses","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
initialize(p::BallAndBeam) = ccall((:comedi_start, comedipath),Int32,(Int32,), 0)
-finalize(p::BallAndBeam) = (control(P,0);ccall((:comedi_stop, "../c/comedi_bridge.so"),Int32,(Int32,), 0))
+finalize(p::BallAndBeam) = (control(p,0);ccall((:comedi_stop, comedipath),Int32,(Int32,), 0))
initialize(p::BallAndBeamSimulator) = nothing
finalize(p::BallAndBeamSimulator) = nothing
diff --git a/src/utilities.jl b/src/utilities.jl
index 8be25e8..14373fc 100644
--- a/src/utilities.jl
+++ b/src/utilities.jl
@@ -9,7 +9,7 @@ macro periodically(h, body)
local start_time = time()
$(esc(body))
local execution_time = time()-start_time
- sleep(max(0,$h-execution_time))
+ sleep(max(0,$(esc(h))-execution_time))
end
end
--
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