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Merge branch '83-implementation-hal-aktorik' into 'master'
Resolve "Implementation HAL Aktorik" Closes #83 See merge request ss21-esep-gruppe-2.3/esep!37
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,76 @@ | ||
| /* | ||
| * BlinkWorker.cpp | ||
| * | ||
| * Created on: 30.04.2021 | ||
| * Author: jendr | ||
| */ | ||
|
|
||
| #include <../actuators/BlinkWorker.h> | ||
| #include <iostream> | ||
| #include <memory> | ||
|
|
||
| namespace hal { | ||
|
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||
| BlinkWorker::BlinkWorker(std::shared_ptr<GPIOWrapper> gpio) : | ||
| _gpio { gpio }, _running { true }, _duty_cycle { 1000 }, _color { hal::RED } { | ||
| _blink_lock.try_lock(); | ||
| } | ||
|
|
||
| void BlinkWorker::run() { | ||
| int val = 0; | ||
| while (_running) { | ||
| _blink_lock.lock(); | ||
| _blink_lock.unlock(); | ||
| val = !val; | ||
| switch (_color) { | ||
| case GREEN: | ||
| _gpio->out(gpio_adresses::BANK_ACTUATOR, | ||
| gpio_adresses::AMPEL_GRUEN_1, val); | ||
| break; | ||
| case YELLOW: | ||
| _gpio->out(gpio_adresses::BANK_ACTUATOR, | ||
| gpio_adresses::AMPEL_GELB_1, val); | ||
| break; | ||
| default: | ||
| _gpio->out(gpio_adresses::BANK_ACTUATOR, gpio_adresses::AMPEL_ROT_1, | ||
| val); | ||
| break; | ||
| } | ||
|
|
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| std::this_thread::sleep_for (std::chrono::milliseconds(_duty_cycle/2)); | ||
| } | ||
| } | ||
|
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||
| void BlinkWorker::stop_loop() { | ||
| stop_blinking(); | ||
| _blink_lock.unlock(); | ||
| _running = false; | ||
| } | ||
|
|
||
| void BlinkWorker::set_duty_cycle(const uint32_t milliseconds) { | ||
| _duty_cycle = milliseconds; | ||
| } | ||
|
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||
| void BlinkWorker::start_blinking(Color c) { | ||
| _color = c; | ||
| _blink_lock.try_lock(); | ||
| _blink_lock.unlock(); | ||
| _gpio->out(gpio_adresses::BANK_ACTUATOR, gpio_adresses::AMPEL_GRUEN_1, 0); | ||
| _gpio->out(gpio_adresses::BANK_ACTUATOR, gpio_adresses::AMPEL_GELB_1, 0); | ||
| _gpio->out(gpio_adresses::BANK_ACTUATOR, gpio_adresses::AMPEL_ROT_1, 0); | ||
| } | ||
|
|
||
| void BlinkWorker::stop_blinking() { | ||
| _blink_lock.try_lock(); | ||
| _gpio->out(gpio_adresses::BANK_ACTUATOR, gpio_adresses::AMPEL_GRUEN_1, 0); | ||
| _gpio->out(gpio_adresses::BANK_ACTUATOR, gpio_adresses::AMPEL_GELB_1, 0); | ||
| _gpio->out(gpio_adresses::BANK_ACTUATOR, gpio_adresses::AMPEL_ROT_1, 0); | ||
| } | ||
|
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||
| BlinkWorker::~BlinkWorker() { | ||
| _running = false; | ||
| _blink_lock.try_lock(); | ||
| _blink_lock.unlock(); | ||
| } | ||
|
|
||
| } /* namespace hal */ |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,41 @@ | ||
| /* | ||
| * BlinkWorker.h | ||
| * | ||
| * Created on: 30.04.2021 | ||
| * Author: jendr | ||
| */ | ||
|
|
||
| #ifndef SRC_ACTUATORS_BLINKWORKER_H_ | ||
| #define SRC_ACTUATORS_BLINKWORKER_H_ | ||
|
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| #include <mutex> | ||
| #include <thread> | ||
| #include "../gpiowrapper.h" | ||
| #include "color.h" | ||
| #include <chrono> | ||
|
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||
| namespace hal { | ||
|
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| class BlinkWorker { | ||
| public: | ||
| BlinkWorker(std::shared_ptr<GPIOWrapper>); | ||
| BlinkWorker(const BlinkWorker&); | ||
| void run(); | ||
| void set_duty_cycle(const uint32_t milliseconds = 1000); | ||
| void start_blinking(Color); | ||
| void stop_blinking(); | ||
| void stop_loop(); | ||
| virtual ~BlinkWorker(); | ||
|
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| private: | ||
| std::shared_ptr<GPIOWrapper> _gpio; | ||
| bool _running; | ||
| useconds_t _duty_cycle; | ||
| hal::Color _color; | ||
| std::mutex _blink_lock; | ||
|
|
||
| }; | ||
|
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| } /* namespace hal */ | ||
|
|
||
| #endif /* SRC_ACTUATORS_BLINKWORKER_H_ */ |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,51 @@ | ||
| /* | ||
| * cb_motor.cpp | ||
| * | ||
| * Created on: 28.04.2021 | ||
| * Author: Justin Hoffmann | ||
| */ | ||
|
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| #include "../actuators/cb_motor.h" | ||
|
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| namespace hal { | ||
|
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| CBMotor::CBMotor(std::shared_ptr<GPIOWrapper> gpio) { | ||
| _gpio = gpio; | ||
| } | ||
|
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| void CBMotor::set_direction(Direction direction) { | ||
| switch(direction){ | ||
| case FAST_FORWARDS: | ||
| _gpio->out(gpio_adresses::BANK_ACTUATOR, gpio_adresses::MOTOR_STOP_1, 0); | ||
| _gpio->out(gpio_adresses::BANK_ACTUATOR, gpio_adresses::MOTOR_LANGSAM_1, 0); | ||
| _gpio->out(gpio_adresses::BANK_ACTUATOR, gpio_adresses::MOTOR_LINKS_1, 0); | ||
| _gpio->out(gpio_adresses::BANK_ACTUATOR, gpio_adresses::MOTOR_RECHTS_1, 1); | ||
| break; | ||
| case SLOW_FORWARDS: | ||
| _gpio->out(gpio_adresses::BANK_ACTUATOR, gpio_adresses::MOTOR_STOP_1, 0); | ||
| _gpio->out(gpio_adresses::BANK_ACTUATOR, gpio_adresses::MOTOR_LINKS_1, 0); | ||
| _gpio->out(gpio_adresses::BANK_ACTUATOR, gpio_adresses::MOTOR_LANGSAM_1, 1); | ||
| _gpio->out(gpio_adresses::BANK_ACTUATOR, gpio_adresses::MOTOR_RECHTS_1, 1); | ||
| break; | ||
| case FAST_BACKWARDS: | ||
| _gpio->out(gpio_adresses::BANK_ACTUATOR, gpio_adresses::MOTOR_STOP_1, 0); | ||
| _gpio->out(gpio_adresses::BANK_ACTUATOR, gpio_adresses::MOTOR_LANGSAM_1, 0); | ||
| _gpio->out(gpio_adresses::BANK_ACTUATOR, gpio_adresses::MOTOR_RECHTS_1, 0); | ||
| _gpio->out(gpio_adresses::BANK_ACTUATOR, gpio_adresses::MOTOR_LINKS_1, 1); | ||
| break; | ||
| case SLOW_BACKWARDS: | ||
| _gpio->out(gpio_adresses::BANK_ACTUATOR, gpio_adresses::MOTOR_STOP_1, 0); | ||
| _gpio->out(gpio_adresses::BANK_ACTUATOR, gpio_adresses::MOTOR_RECHTS_1, 0); | ||
| _gpio->out(gpio_adresses::BANK_ACTUATOR, gpio_adresses::MOTOR_LANGSAM_1, 1); | ||
| _gpio->out(gpio_adresses::BANK_ACTUATOR, gpio_adresses::MOTOR_LINKS_1, 1); | ||
| break; | ||
| default: | ||
| _gpio->out(gpio_adresses::BANK_ACTUATOR, gpio_adresses::MOTOR_LANGSAM_1, 0); | ||
| _gpio->out(gpio_adresses::BANK_ACTUATOR, gpio_adresses::MOTOR_LINKS_1, 0); | ||
| _gpio->out(gpio_adresses::BANK_ACTUATOR, gpio_adresses::MOTOR_RECHTS_1, 0); | ||
| _gpio->out(gpio_adresses::BANK_ACTUATOR, gpio_adresses::MOTOR_STOP_1, 1); | ||
| } | ||
| } | ||
|
|
||
| } | ||
|
|
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,32 @@ | ||
| /* | ||
| * cb_motor.h | ||
| * | ||
| * Created on: 28.04.2021 | ||
| * Author: Justin Hoffmann | ||
| */ | ||
|
|
||
| #ifndef SRC_ACTUATORS_CB_MOTOR_H_ | ||
| #define SRC_ACTUATORS_CB_MOTOR_H_ | ||
|
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| #include "../gpiowrapper.h" | ||
| #include <memory> | ||
|
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| namespace hal { | ||
|
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| enum Direction { | ||
| FAST_FORWARDS = 0, SLOW_FORWARDS, STOP, SLOW_BACKWARDS, FAST_BACKWARDS | ||
| }; | ||
|
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| class CBMotor { | ||
| private: | ||
| std::shared_ptr<GPIOWrapper> _gpio; | ||
|
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| public: | ||
| CBMotor(std::shared_ptr<GPIOWrapper>); | ||
| virtual ~CBMotor() = default; | ||
| void set_direction(Direction); | ||
| }; | ||
|
|
||
| } | ||
|
|
||
| #endif /* SRC_ACTUATORS_CB_MOTOR_H_ */ |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,12 @@ | ||
| #ifndef COLOR_H | ||
| #define COLOR_H | ||
|
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| namespace hal{ | ||
|
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| enum Color { | ||
| GREEN = 0, YELLOW, RED | ||
| }; | ||
|
|
||
| } | ||
|
|
||
| #endif |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,37 @@ | ||
| /* | ||
| * ejector.cpp | ||
| * | ||
| * Created on: 28.04.2021 | ||
| * Author: Justin Hoffmann | ||
| */ | ||
|
|
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| #include "../actuators/ejector.h" | ||
|
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| namespace hal { | ||
|
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| Ejector::Ejector(std::shared_ptr<GPIOWrapper> gpio) : | ||
| SortingMechanism(gpio) { | ||
| } | ||
|
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| void Ejector::do_not_discard() const { | ||
| _gpio->out(gpio_adresses::BANK_ACTUATOR, gpio_adresses::WEICHE_OEFFNEN_1, | ||
| 0); | ||
| } | ||
|
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| void Ejector::discard() const { | ||
| _gpio->out(gpio_adresses::BANK_ACTUATOR, gpio_adresses::WEICHE_OEFFNEN_1, | ||
| 1); | ||
| } | ||
|
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| bool Ejector::is_open() const { | ||
| return _gpio->in(gpio_adresses::BANK_INPUT, gpio_adresses::WEICHE_OFFEN_0) | ||
| == 0; | ||
| } | ||
|
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| void Ejector::reset() const { | ||
| _gpio->out(gpio_adresses::BANK_ACTUATOR, gpio_adresses::WEICHE_OEFFNEN_1, | ||
| 0); | ||
| } | ||
|
|
||
| } | ||
|
|
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