From 8912ea2a7c4ee7f12bf7741ece8b93ef5ede6f62 Mon Sep 17 00:00:00 2001
From: Martin Karlsson <cont-mkr@ulund.org>
Date: Mon, 28 Aug 2017 21:34:33 +0200
Subject: [PATCH] update ETHheli to LabConnections
---
src/LabProcesses.jl | 3 ++-
.../eth_helicopter.jl | 24 ++++++++++---------
2 files changed, 15 insertions(+), 12 deletions(-)
diff --git a/src/LabProcesses.jl b/src/LabProcesses.jl
index c77a735..9eb3ff6 100644
--- a/src/LabProcesses.jl
+++ b/src/LabProcesses.jl
@@ -2,13 +2,14 @@
module LabProcesses
-using ControlSystems
+using ControlSystems, LabConnection.Computer
include("utilities.jl")
include("interface.jl")
include("interface_documentation.jl")
include("interface_implementations/ballandbeam.jl")
+include("interface_implementations/eth_helicopter.jl")
include("reference_generators.jl")
include("controllers.jl")
diff --git a/src/interface_implementations/eth_helicopter.jl b/src/interface_implementations/eth_helicopter.jl
index 7e78568..f13bb0f 100644
--- a/src/interface_implementations/eth_helicopter.jl
+++ b/src/interface_implementations/eth_helicopter.jl
@@ -8,10 +8,15 @@
export ETHHelicopter, ETHHelicopterSimulator, AbstractETHHelicopter
struct ETHHelicopter <: PhysicalProcess
- h::Float64
+ h::Float64
bias::Float64
+ stream::LabStream
+ measure1::AnalogInput10V
+ measure2::AnalogInput10V
+ control1::AnalogOutput10V
+ control2::AnalogOutput10V
end
-ETHHelicopter() = ETHHelicopter(0.050, 0.)
+ETHHelicopter() = ETHHelicopter(0.050, 0., ComediStream(), AnalogInput10V(0), AnalogInput10V(1), AnalogOutput10V(0), AnalogOutput10V(1))
struct ETHHelicopterSimulator <: SimulatedProcess
h::Float64
@@ -32,22 +37,19 @@ bias(p::AbstractETHHelicopter) = p.bias
function control(p::ETHHelicopter, u)
- ccall((:comedi_write, comedipath),Int32,(Int32,Int32,Int32,Int32), 0,1,0,num2io(u[1]))
- ccall((:comedi_write, comedipath),Int32,(Int32,Int32,Int32,Int32), 0,1,1,num2io(u[2]))
+ send(p.control1,u[1])
+ send(p.control2,u[2])
end
-measure(p::ETHHelicopter) = [io2num(ccall((:comedi_read, comedipath),Int32,(Int32,Int32,Int32), 0,0,i)) for i = 0:1] #i=0 for pitch, i=1 for yaw
+measure(p::ETHHelicopter) = [read(p.measure1), read(p.measure2)] #i=0 for pitch, i=1 for yaw
control(p::ETHHelicopterSimulator, u) = error("Not yet implemented")
measure(p::ETHHelicopterSimulator) = 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 + 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::ETHHelicopter) = init_devices!(p.stream, p.measure1, p.measure2, p.control1, p.control2)
+finalize(p::ETHHelicopter) = close(p.stream)
initialize(p::ETHHelicopterSimulator) = nothing
finalize(p::ETHHelicopterSimulator) = nothing
--
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