void ServoRotator::rotate(uint16_t angle)
{
if (angle > maxAngle)
{
PC_EXCEPTION(OutOfRangeException, "Angle value is too big.");
}
if (maxDuty <= minDuty)
{
PC_EXCEPTION(IncorrectParamException,
"Maximal duty should be greater than minimal duty.");
}
uint32_t duty = minDuty + (angle * (maxDuty - minDuty)) /
maxAngle;
pwm.setPulseParams(duty, impPeriod);
pwm.init();
}
std::shared_ptr<PWMImpl> PWMFactory::createPWM(PWM_CHANNEL po)
{
std::lock_guard<std::mutex> l(dataMutex);
if (pwmMap.find(po) != pwmMap.end())
{
PC_EXCEPTION(PinLockedException, "Selected PWM pin already "
"locked.");
}
auto gpioInstance = GPIOManager::getInstance();
if (!gpioInstance)
{
PC_EXCEPTION(InternalErrorException, "Instance of GPIO manager "
"object is NULL.");
}
if (po < PWM_CHANNEL::PWM_0 || po >= PWM_CHANNEL::PWM_MAX)
{
PC_EXCEPTION(IncorrectParamException, "Invalid PWM pin index.");
}
gpioInstance->aquire(contactMap.at(po));
std::shared_ptr<PWMImpl> sp;
try
{
sp = std::shared_ptr<PWMImpl>(new PWMImpl(po));
}
catch (Exception& e)
{
gpioInstance->release(contactMap.at(po));
throw e;
}
pwmMap[po] = sp;
return sp;
}
void PWMFactory::releasePWM(PWM_CHANNEL po)
{
std::lock_guard<std::mutex> l(dataMutex);
auto gpioInstance = GPIOManager::getInstance();
if (!gpioInstance)
{
PC_EXCEPTION(InternalErrorException, "Instance of GPIO manager "
"object is NULL.");
}
gpioInstance->release(contactMap.at(po));
pwmMap.erase(po);
}
