void
dmz::QtPluginCanvasLink::update_link_attribute_object (
const Handle LinkHandle,
const Handle AttributeHandle,
const UUID &SuperIdentity,
const Handle SuperHandle,
const UUID &SubIdentity,
const Handle SubHandle,
const UUID &AttributeIdentity,
const Handle AttributeObjectHandle,
const UUID &PrevAttributeIdentity,
const Handle PrevAttributeObjectHandle) {
if (AttributeObjectHandle) {
LinkStruct *ls = _linkTable.lookup (LinkHandle);
if (ls) { _attrObjTable.store (AttributeObjectHandle, ls); }
if (_flowAttrHandle) {
ObjectModule *objMod (get_object_module ());
if (objMod) {
Mask state;
if (objMod->lookup_state (AttributeObjectHandle, _flowAttrHandle, state)) {
update_object_state (
UUID (),
AttributeObjectHandle,
_flowAttrHandle,
state,
0);
}
}
}
}
if (PrevAttributeObjectHandle) { _attrObjTable.remove (PrevAttributeObjectHandle); }
}
task smart_PTC_monitor()
{
/*-----------------------------------------------------------------------------*/
/* */
/* task smart_PTC_monitor() */
/* */
/* task written by Vamfun...Mentor Vex 1508, 599. */
/* 8.21.2012 [email protected]... blog info http://vamfun.wordpress.com */
/* */
/* Sets up periodic loop to calculate object states used in PTC monitor. */
/* States are passed to a current limiter that incorportes user logic to */
/* determine what motors should be limited when a PTC monitor trips. */
/* The current_limiter limits motor commands to keep currents below PTC safe */
/* limits. It also slew rate limits the motor inputs. The current_limiter */
/* loop runs at PTC_TASK_DELAY_MS update rate. The current and temperatures */
/* are updated 6 times slower. */
/* */
/*-----------------------------------------------------------------------------*/
//Monitor code
int loop_cnt = 0;
bStopTasksBetweenModes = false; //This keeps monitor running between autonomous and user tasks to keep temperature
// models working
// Initialize
ClearTimer(T1);//T1 is reserved for state update timer
initialize_object_state();
while(true)
{
//we need this because we have are no longer stopping all tasks between modes
//there might be a better way to do this without stopping tasks every cycle. CDS..action
if(bIfiRobotDisabled || !bIfiAutonomousMode)
{
StopTask(autonomous);
}
if(bIfiRobotDisabled || bIfiAutonomousMode)
{
StopTask(usercontrol);
}
Time_sec = (float)time100[T2]/10.; //Run time in sec
v_battery = nImmediateBatteryLevel/1000.;
//Create logic to toggle the engage logic based upon push of switch_PTC
switch_state_last = switch_state;
switch_state = (bool)SensorValue(switch_PTC);
if( switch_state && !switch_state_last ) //toggle PTC_monitor_engage and debounce switch
{
PTC_monitor_engage = !PTC_monitor_engage;
}
if(loop_cnt > 5) //Run the current computations and temperature updates at 90ms. Adjust PTC_TASK_DELAY_MS
//until dt_ms reads 90ms. This will ensure that the current limiter runs at about
//6 times faster or about 15ms.
{
PTC_monitor_threshold_check(); //if T> Tm then set trip = 1, else if T< .9*Tm reset trip.
dt_ms = time1[T1] ;// update time msec
update_object_state(); //compute currents and use these to update PTC temperatures
ClearTimer(T1);//reset loop timer
loop_cnt = 1;
}
else
{
loop_cnt ++;
}
current_limiter(); // this is where M[port].cmd_out -> current limit-> motor[port]
wait1Msec(PTC_TASK_DELAY_MS);
} //end while
} //end smart_PTC_monitor() task
