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labcomm_ioctl.h

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    eth_helicopter.jl NaN GiB
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    # Interface implementation Ball And Beam ====================================================

# 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, 0.)

struct ETHHelicopterSimulator <: SimulatedProcess
    h::Float64
    bias::Float64
    state::Vector{Float64}
end
ETHHelicopterSimulator() = ETHHelicopterSimulator(0.01, zeros(4))

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)
	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]))
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


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::ETHHelicopterSimulator) = nothing
finalize(p::ETHHelicopterSimulator)   = nothing