ServoMotor::ServoMotor(QString const &port, trikKernel::Configurer const &configurer)
: mDutyFile(configurer.attributeByPort(port, "deviceFile"))
, mPeriodFile(configurer.attributeByPort(port, "periodFile"))
, mCurrentDutyPercent(0)
, mInvert(configurer.attributeByPort(port, "invert") == "true")
, mCurrentPower(0)
{
auto configure = [this, &port, &configurer](QString const ¶meterName) {
return ConfigurerHelper::configureInt(configurer, mState, port, parameterName);
};
mPeriod = configure("period");
mMin = configure("min");
mMax = configure("max");
mZero = configure("zero");
mStop = configure("stop");
mMotorType = configurer.attributeByPort(port, "type") == "angular" ? Type::angular : Type::continiousRotation;
if (!mPeriodFile.open(QIODevice::WriteOnly | QIODevice::Truncate | QIODevice::Unbuffered | QIODevice::Text)) {
QLOG_ERROR() << "Can't open motor period file " << mPeriodFile.fileName();
mState.fail();
return;
}
QString const command = QString::number(mPeriod);
mPeriodFile.write(command.toLatin1());
mPeriodFile.close();
mState.ready();
}
RangeSensor::RangeSensor(const QString &port, const trikKernel::Configurer &configurer, ModuleLoader &moduleLoader
, const trikHal::HardwareAbstractionInterface &hardwareAbstraction)
: mState("Range Sensor on " + port)
{
if (!moduleLoader.load(configurer.attributeByPort(port, "module"))
|| !moduleLoader.load(configurer.attributeByDevice("rangeSensor", "commonModule")))
{
QLOG_ERROR() << "Module loading failed";
mState.fail();
return;
}
mMinValue = ConfigurerHelper::configureInt(configurer, mState, port, "minValue");
mMaxValue = ConfigurerHelper::configureInt(configurer, mState, port, "maxValue");
mSensorWorker.reset(new RangeSensorWorker(configurer.attributeByPort(port, "eventFile"), mState
, hardwareAbstraction));
if (!mState.isFailed()) {
mSensorWorker->moveToThread(&mWorkerThread);
connect(mSensorWorker.data(), SIGNAL(newData(int, int, trikKernel::TimeVal))
, this, SIGNAL(newData(int, int, trikKernel::TimeVal)));
QLOG_INFO() << "Starting RangeSensor worker thread" << &mWorkerThread;
mWorkerThread.start();
}
RangeSensor::RangeSensor(QString const &port, trikKernel::Configurer const &configurer, ModuleLoader &moduleLoader)
{
if (!moduleLoader.load(configurer.attributeByPort(port, "module"))
|| !moduleLoader.load(configurer.attributeByDevice("rangeSensor", "commonModule")))
{
QLOG_ERROR() << "Module loading failed";
mState.fail();
return;
}
mSensorWorker.reset(new RangeSensorWorker(configurer.attributeByPort(port, "eventFile"), mState));
if (!mState.isFailed()) {
mSensorWorker->moveToThread(&mWorkerThread);
connect(mSensorWorker.data(), SIGNAL(newData(int, int)), this, SIGNAL(newData(int, int)));
mWorkerThread.start();
}
DigitalSensor::DigitalSensor(const QString &port, const trikKernel::Configurer &configurer)
: mDeviceFile(configurer.attributeByPort(port, "deviceFile"))
{
mMin = ConfigurerHelper::configureInt(configurer, mState, port, "min");
mMax = ConfigurerHelper::configureInt(configurer, mState, port, "max");
mState.ready();
// Testing availability of a device.
read();
}
