Draft interface and BallAndBeam implementation

README.md

 # LabProcesses
 
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+Under development /Bagge

c/Makefile

+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

c/comedi_bridge.c

+#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);
+}
+
+
+

src/LabProcesses.jl

 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