Implement LabConnection for ballandbeam

REQUIRE

 julia 0.6
 ControlSystems
+Parameters

src/LabProcesses.jl

@@ -7,7 +7,7 @@ end
 
 module LabProcesses
 
-using ControlSystems, LabConnection.Computer
+using ControlSystems, LabConnection.Computer, Parameters
 
 include("utilities.jl")
 

src/interface_implementations/ballandbeam.jl

@@ -11,11 +11,13 @@
 
 export Beam, BeamSimulator, AbstractBeam, BallAndBeam, BallAndBeamSimulator, AbstractBeamOrBallAndBeam
 
-struct Beam <: PhysicalProcess
-    h::Float64
-    bias::Float64
+@with_kw struct Beam <: PhysicalProcess
+    h::Float64 = 0.01
+    bias::Float64 = 0.0
+    stream::LabStream = ComediStream()
+    measure::AnalogInput10V = AnalogInput10V(0)
+    control::AnalogOutput10V = AnalogOutput10V(1)
 end
-Beam() = Beam(0.01, 0.0)
 
 include("define_beam_system.jl")
 const beam_system, nice_beam_controller = define_beam_system()
@@ -27,24 +29,24 @@ struct BeamSimulator <: SimulatedProcess
     BeamSimulator(h::Real) = new(Float64(h), SysFilter(beam_system, h))
 end
 
-struct BallAndBeam <: PhysicalProcess
-    h::Float64
-    bias::Float64
+@with_kw struct BallAndBeam <: PhysicalProcess
+    h::Float64 = 0.01
+    bias::Float64 = 0.0
+    stream::LabStream = ComediStream()
+    measure1::AnalogInput10V = AnalogInput10V(0)
+    measure2::AnalogInput10V = AnalogInput10V(1)
+    control::AnalogOutput10V = AnalogOutput10V(0)
 end
-BallAndBeam() = BallAndBeam(0.01, 0.0)
 
 struct BallAndBeamSimulator <: SimulatedProcess
     h::Float64
     s::SysFilter
 end
 
-
-
 const AbstractBeam              = Union{Beam, BeamSimulator}
 const AbstractBallAndBeam       = Union{BallAndBeam, BallAndBeamSimulator}
 const AbstractBeamOrBallAndBeam = Union{AbstractBeam, AbstractBallAndBeam}
 
-
 num_outputs(p::AbstractBeam)             = 1
 num_outputs(p::AbstractBallAndBeam)      = 2
 num_inputs(p::AbstractBeamOrBallAndBeam) = 1
@@ -60,29 +62,20 @@ bias(p::BeamSimulator)                   = 0
 bias(p::BallAndBeamSimulator)            = 0
 
 
-control(p::AbstractBeamOrBallAndBeam, u) = ccall((:comedi_write, comedipath),Int32,
-                                        (Int32,Int32,Int32,Int32),0,1,1,num2io(u[1]+p.bias))
-
+control(p::AbstractBeamOrBallAndBeam, u) = send(p.control,u)
 control(p::BeamSimulator, u)             = p.s(u)
-
 control(p::BallAndBeamSimulator, u)      = error("Not yet implemented")
 
-measure(p::Beam) = io2num(ccall((:comedi_read,comedipath), Int32,
-                                        (Int32,Int32,Int32), 0,0,0))
-measure(p::BallAndBeam) = [io2num(ccall((:comedi_read,comedipath), Int32,
-(Int32,Int32,Int32), 0,0,i)) for i = 0:1]
-
+measure(p::Beam)                         = read(p.measure)
+measure(p::BallAndBeam)                  = [read(p.measure1), read(p.measure2)]
 measure(p::BeamSimulator)                = vecdot(p.s.sys.C,p.s.state)
 measure(p::BallAndBeamSimulator)         = error("Not yet implemented")
 
 
-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 + 2048)   # Converts from regular number to io
-
-initialize(p::AbstractBeamOrBallAndBeam) = ccall((:comedi_start, comedipath),Int32,(Int32,), 0)
-finalize(p::AbstractBeamOrBallAndBeam)   = (control(p,0);ccall((:comedi_stop, comedipath),Int32,(Int32,), 0))
+initialize(p::Beam)                    = init_devices!(p.stream, p.measure, p.control)
+initialize(p::BallAndBeam)             = init_devices!(p.stream, p.measure1,
+                                                       p.measure2, p.control)
+finalize(p::AbstractBeamOrBallAndBeam) = close(p.stream)
 initialize(p::BallAndBeamSimulator)    = nothing
 finalize(p::BallAndBeamSimulator)      = nothing
 initialize(p::BeamSimulator)           = p.s.state .*= 0