From 127b12adc3f7226ebd18e4d4cbb617fad9e9314e Mon Sep 17 00:00:00 2001
From: Fredrik Bagge Carlson <cont-frb@ulund.org>
Date: Tue, 22 Aug 2017 17:48:31 +0200
Subject: [PATCH] Change Union type naming to Abstract
---
src/interface_implementations/ballandbeam.jl | 51 +++++++++++--------
.../eth_helicopter.jl | 35 +++++++------
2 files changed, 50 insertions(+), 36 deletions(-)
diff --git a/src/interface_implementations/ballandbeam.jl b/src/interface_implementations/ballandbeam.jl
index 19f5361..d91092f 100644
--- a/src/interface_implementations/ballandbeam.jl
+++ b/src/interface_implementations/ballandbeam.jl
@@ -1,6 +1,15 @@
# Interface implementation Ball And Beam ====================================================
-export Beam, BeamSimulator, BeamType, BallAndBeam, BallAndBeamSimulator, BeamOrBallAndBeam
+# The ball and beam can be used in two modes, either just the Beam, in which case there is a
+# single output (measurement signal) or the BallAndBeam, in which case there are two.
+# There are a few union types defined for convenience, these are
+# AbstractBeam = Union{Beam, BeamSimulator}
+# AbstractBallAndBeam = Union{BallAndBeam, BallAndBeamSimulator}
+# AbstractBeamOrBallAndBeam = All types
+# Although not Abstract per se, the names AbstractBeam etc. were chosen since this reflects
+# their usage in dispatch.
+
+export Beam, BeamSimulator, AbstractBeam, BallAndBeam, BallAndBeamSimulator, AbstractBeamOrBallAndBeam
struct Beam <: PhysicalProcess
h::Float64
@@ -27,26 +36,26 @@ end
BallAndBeamSimulator() = BallAndBeamSimulator(0.01, zeros(4))
-const BeamType = Union{Beam, BeamSimulator}
-const BallAndBeamType = Union{BallAndBeam, BallAndBeamSimulator}
-const BeamOrBallAndBeam = Union{BeamType, BallAndBeamType}
+const AbstractBeam = Union{Beam, BeamSimulator}
+const AbstractBallAndBeam = Union{BallAndBeam, BallAndBeamSimulator}
+const AbstractBeamOrBallAndBeam = Union{AbstractBeam, AbstractBallAndBeam}
-num_outputs(p::BeamType) = 1
-num_outputs(p::BallAndBeamType) = 2
-num_inputs(p::BeamOrBallAndBeam)= 1
-outputrange(p::Beam) = [(-10,10)]
-outputrange(p::BallAndBeamType) = [(-10,10),(-1,1)] # Beam angle, Ball position
-inputrange(p::BeamOrBallAndBeam)= [(-10,10)]
-isstable(p::Beam) = true
-isstable(p::BallAndBeamType) = false
-isasstable(p::BeamOrBallAndBeam) = false
-sampletime(p::BeamOrBallAndBeam) = p.h
-bias(p::BeamOrBallAndBeam) = p.bias
-bias(p::BallAndBeamSimulator) = 0
+num_outputs(p::AbstractBeam) = 1
+num_outputs(p::AbstractBallAndBeam) = 2
+num_inputs(p::AbstractBeamOrBallAndBeam) = 1
+outputrange(p::Beam) = [(-10,10)]
+outputrange(p::AbstractBallAndBeam) = [(-10,10),(-1,1)] # Beam angle, Ball position
+inputrange(p::AbstractBeamOrBallAndBeam) = [(-10,10)]
+isstable(p::Beam) = true
+isstable(p::AbstractBallAndBeam) = false
+isasstable(p::AbstractBeamOrBallAndBeam) = false
+sampletime(p::AbstractBeamOrBallAndBeam) = p.h
+bias(p::AbstractBeamOrBallAndBeam) = p.bias
+bias(p::BallAndBeamSimulator) = 0
-control(p::BeamOrBallAndBeam, u) = ccall((:comedi_write, comedipath),Int32,
+control(p::AbstractBeamOrBallAndBeam, u) = ccall((:comedi_write, comedipath),Int32,
(Int32,Int32,Int32,Int32),0,1,1,num2io(u[1]+p.bias))
measure(p::Beam) = io2num(ccall((:comedi_read,comedipath), Int32,
(Int32,Int32,Int32), 0,0,0))
@@ -61,7 +70,7 @@ 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::BeamOrBallAndBeam) = ccall((:comedi_start, comedipath),Int32,(Int32,), 0)
-finalize(p::BeamOrBallAndBeam) = (control(p,0);ccall((:comedi_stop, comedipath),Int32,(Int32,), 0))
-initialize(p::BallAndBeamSimulator) = nothing
-finalize(p::BallAndBeamSimulator) = nothing
+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::BallAndBeamSimulator) = nothing
+finalize(p::BallAndBeamSimulator) = nothing
diff --git a/src/interface_implementations/eth_helicopter.jl b/src/interface_implementations/eth_helicopter.jl
index a541578..7e78568 100644
--- a/src/interface_implementations/eth_helicopter.jl
+++ b/src/interface_implementations/eth_helicopter.jl
@@ -1,12 +1,17 @@
# Interface implementation Ball And Beam ====================================================
-export ETHHelicopter, ETHHelicopterSimulator, ETHHelicopterType
+# There is a union type defined for convenience:
+# AbstractETHHelicopter = Union{ETHHelicopter, ETHHelicopterSimulator}
+# Although not Abstract per se, the names AbstractETHHelicopter etc. were chosen since this
+# reflects the usage in dispatch.
+
+export ETHHelicopter, ETHHelicopterSimulator, AbstractETHHelicopter
struct ETHHelicopter <: PhysicalProcess
h::Float64
bias::Float64
end
-ETHHelicopter() = ETHHelicopter(0.050)
+ETHHelicopter() = ETHHelicopter(0.050, 0.)
struct ETHHelicopterSimulator <: SimulatedProcess
h::Float64
@@ -15,15 +20,15 @@ struct ETHHelicopterSimulator <: SimulatedProcess
end
ETHHelicopterSimulator() = ETHHelicopterSimulator(0.01, zeros(4))
-const ETHHelicopterType = Union{ETHHelicopter, ETHHelicopterSimulator}
-num_outputs(p::ETHHelicopterType) = 2
-num_inputs(p::ETHHelicopterType) = 2
-outputrange(p::ETHHelicopterType) = [(-10,10),(-10,10)] # Beam angle, Ball position
-inputrange(p::ETHHelicopterType) = [(-10,10)]
-isstable(p::ETHHelicopterType) = false
-isasstable(p::ETHHelicopterType) = false
-sampletime(p::ETHHelicopterType) = p.h
-bias(p::ETHHelicopterType) = p.bias
+const AbstractETHHelicopter = Union{ETHHelicopter, ETHHelicopterSimulator}
+num_outputs(p::AbstractETHHelicopter) = 2
+num_inputs(p::AbstractETHHelicopter) = 2
+outputrange(p::AbstractETHHelicopter) = [(-10,10),(-10,10)]
+inputrange(p::AbstractETHHelicopter) = [(-10,10),(-10,10)]
+isstable(p::AbstractETHHelicopter) = false
+isasstable(p::AbstractETHHelicopter) = false
+sampletime(p::AbstractETHHelicopter) = p.h
+bias(p::AbstractETHHelicopter) = p.bias
function control(p::ETHHelicopter, u)
@@ -42,7 +47,7 @@ const conversion = 65535/20
io2num(x) = x/conversion -10 # Converts from io to float
num2io(x) = round(Int32,(x + 10)*conversion) # Converts from regular number to io
-initialize(p::ETHHelicopter) = ccall((:comedi_start, comedipath),Int32,(Int32,), 0)
-finalize(p::ETHHelicopter) = (control(p,0);ccall((:comedi_stop, comedipath),Int32,(Int32,), 0))
-initialize(p::ETHHelicopterSimulator) = nothing
-finalize(p::ETHHelicopterSimulator) = nothing
+initialize(p::ETHHelicopter) = ccall((:comedi_start, comedipath),Int32,(Int32,), 0)
+finalize(p::ETHHelicopter) = (control(p,0);ccall((:comedi_stop, comedipath),Int32,(Int32,), 0))
+initialize(p::ETHHelicopterSimulator) = nothing
+finalize(p::ETHHelicopterSimulator) = nothing
--
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