예제 #1
0
void DataTrace::stopTrace() {
  // Bouml preserved body begin 000C9471
    file.close();

    parametersEndTraceFile.open((path+"ParametersAfterTrace").c_str(), std::fstream::out | std::fstream::trunc);
    std::string parameterString;
    
    parametersEndTraceFile << "Name: " << this->name << std::endl;
    ptime today;
    today = second_clock::local_time();
    parametersEndTraceFile << "Date: " << boost::posix_time::to_simple_string(today) << std::endl;
    
        JointName jointName;
    joint.getConfigurationParameter(jointName);
    jointName.toString(parameterString);
    //   std::cout << parameterString << std::endl;
    parametersEndTraceFile << parameterString << std::endl;

    TorqueConstant torqueconst;
    joint.getConfigurationParameter(torqueconst);
    torqueconst.toString(parameterString);
    //   std::cout << parameterString << std::endl;
    parametersEndTraceFile << parameterString << std::endl;

    JointLimits jointLimits;
    joint.getConfigurationParameter(jointLimits);
    jointLimits.toString(parameterString);
    //   std::cout << parameterString << std::endl;
    parametersEndTraceFile << parameterString << std::endl;

    EncoderTicksPerRound encoderTicksPerRound;
    joint.getConfigurationParameter(encoderTicksPerRound);
    encoderTicksPerRound.toString(parameterString);
    //   std::cout << parameterString << std::endl;
    parametersEndTraceFile << parameterString << std::endl;

    GearRatio gearRatio;
    joint.getConfigurationParameter(gearRatio);
    gearRatio.toString(parameterString);
    //   std::cout << parameterString << std::endl;
    parametersEndTraceFile << parameterString << std::endl;
    
    InverseMovementDirection inverseMovementDirection;
    joint.getConfigurationParameter(inverseMovementDirection);
    inverseMovementDirection.toString(parameterString);
    //   std::cout << parameterString << std::endl;
    parametersEndTraceFile << parameterString << std::endl;
    
    for (int i = 0; i < parameterVector.size(); i++) {
      joint.getConfigurationParameter(*(parameterVector[i]));
      parameterVector[i]->toString(parameterString);
      parametersEndTraceFile << parameterString << std::endl;
      delete parameterVector[i];
    }
    
    
    parametersEndTraceFile.close();
  // Bouml preserved body end 000C9471
}
예제 #2
0
void DataTrace::startTrace()
{
  // Bouml preserved body begin 000C93F1

  timeDurationMicroSec = 0;

  file.open((path + "jointDataTrace").c_str(), std::fstream::out | std::fstream::trunc);

  ptime today;
  today = second_clock::local_time();

  file << "# Name: " << this->name << std::endl;

  file << "# Date: " << boost::posix_time::to_simple_string(today) << std::endl;

  JointName jointName;
  FirmwareVersion firmwareParameter;
  std::string parameterString;
  joint.getConfigurationParameter(firmwareParameter);
  joint.getConfigurationParameter(jointName);
  jointName.toString(parameterString);
  file << "# " << parameterString << std::endl;
  firmwareParameter.toString(parameterString);
  file << "# " << parameterString << std::endl;

  file << "# time [milliseconds]" << " " << "angle setpoint [rad]" << " " << "velocity setpoint [rad/s]" << " "
      << "RPM setpoint" << " " << "current setpoint [A]" << " " << "torque setpoint [Nm]" << " "
      << "ramp generator setpoint [rad/s]" << " " << "encoder setpoint"

      << " " << "sensed angle [rad]" << " " << "sensed encoder ticks" << " " << "sensed velocity [rad/s]" << " "
      << "sensed RPM" << " " << "sensed current [A]" << " " << "sensed torque [Nm]" << " " << "actual PWM"

      << " " << "OVER_CURRENT" << " " << "UNDER_VOLTAGE" << " " << "OVER_VOLTAGE" << " " << "OVER_TEMPERATURE" << " "
      << "MOTOR_HALTED" << " " << "HALL_SENSOR_ERROR" << " " << "PWM_MODE_ACTIVE" << " " << "VELOCITY_MODE" << " "
      << "POSITION_MODE" << " " << "TORQUE_MODE" << " " << "POSITION_REACHED" << " " << "INITIALIZED" << " "
      << "TIMEOUT" << " " << "I2T_EXCEEDED" << " " << std::endl;

  parametersBeginTraceFile.open((path + "ParametersAtBegin").c_str(), std::fstream::out | std::fstream::trunc);

  parameterVector.push_back(new ActualMotorVoltage);
  //   parameterVector.push_back(new ErrorAndStatus);
  parameterVector.push_back(new ActualMotorDriverTemperature);
  parameterVector.push_back(new I2tSum);
  parameterVector.push_back(new PositionError);
  parameterVector.push_back(new PositionErrorSum);
  parameterVector.push_back(new RampGeneratorSpeed);
  parameterVector.push_back(new VelocityError);
  parameterVector.push_back(new VelocityErrorSum);
  //   parameterVector.push_back(new CalibrateJoint);
  parameterVector.push_back(new DParameterFirstParametersPositionControl);
  parameterVector.push_back(new DParameterFirstParametersSpeedControl);
  parameterVector.push_back(new DParameterCurrentControl);
  parameterVector.push_back(new DParameterSecondParametersPositionControl);
  parameterVector.push_back(new DParameterSecondParametersSpeedControl);

  parameterVector.push_back(new IClippingParameterFirstParametersPositionControl);
  parameterVector.push_back(new IClippingParameterFirstParametersSpeedControl);
  parameterVector.push_back(new IClippingParameterCurrentControl);
  parameterVector.push_back(new IClippingParameterSecondParametersPositionControl);
  parameterVector.push_back(new IClippingParameterSecondParametersSpeedControl);
  //    parameterVector.push_back(new InitializeJoint);

  parameterVector.push_back(new IParameterFirstParametersPositionControl);
  parameterVector.push_back(new IParameterFirstParametersSpeedControl);
  parameterVector.push_back(new IParameterCurrentControl);
  parameterVector.push_back(new IParameterSecondParametersPositionControl);
  parameterVector.push_back(new IParameterSecondParametersSpeedControl);

  parameterVector.push_back(new MaximumPositioningVelocity);
  parameterVector.push_back(new MotorAcceleration);
  parameterVector.push_back(new PositionControlSwitchingThreshold);
  parameterVector.push_back(new PParameterFirstParametersPositionControl);
  parameterVector.push_back(new PParameterFirstParametersSpeedControl);
  parameterVector.push_back(new PParameterCurrentControl);
  parameterVector.push_back(new PParameterSecondParametersPositionControl);
  parameterVector.push_back(new PParameterSecondParametersSpeedControl);
  parameterVector.push_back(new RampGeneratorSpeedAndPositionControl);
  parameterVector.push_back(new SpeedControlSwitchingThreshold);

  parameterVector.push_back(new ActivateOvervoltageProtection);
  parameterVector.push_back(new ActualCommutationOffset);
  //   parameterVector.push_back(new ApproveProtectedParameters);
  parameterVector.push_back(new BEMFConstant);
  //   parameterVector.push_back(new ClearI2tExceededFlag);
  //   parameterVector.push_back(new ClearMotorControllerTimeoutFlag);
  parameterVector.push_back(new CommutationMode);
  parameterVector.push_back(new CommutationMotorCurrent);
  parameterVector.push_back(new CurrentControlLoopDelay);
  parameterVector.push_back(new EncoderResolution);
  parameterVector.push_back(new EncoderStopSwitch);
  parameterVector.push_back(new HallSensorPolarityReversal);
  parameterVector.push_back(new I2tExceedCounter);
  parameterVector.push_back(new I2tLimit);
  parameterVector.push_back(new InitializationMode);
  parameterVector.push_back(new InitSineDelay);
  parameterVector.push_back(new MassInertiaConstant);
  parameterVector.push_back(new MaximumMotorCurrent);
  parameterVector.push_back(new MaximumVelocityToSetPosition);
  parameterVector.push_back(new MotorCoilResistance);
  parameterVector.push_back(new MotorControllerTimeout);
  parameterVector.push_back(new MotorPoles);
  parameterVector.push_back(new OperationalTime);
  parameterVector.push_back(new PIDControlTime);
  parameterVector.push_back(new PositionTargetReachedDistance);
  parameterVector.push_back(new ReversingEncoderDirection);
  parameterVector.push_back(new SetEncoderCounterZeroAtNextNChannel);
  parameterVector.push_back(new SetEncoderCounterZeroAtNextSwitch);
  parameterVector.push_back(new SetEncoderCounterZeroOnlyOnce);
  parameterVector.push_back(new SineInitializationVelocity);
  parameterVector.push_back(new StopSwitchPolarity);
  parameterVector.push_back(new ThermalWindingTimeConstant);
  parameterVector.push_back(new VelocityThresholdForHallFX);
  parameterVector.push_back(new MotorHaltedVelocity);

//    apiParameterVector.push_back(new JointName);
//    apiParameterVector.push_back(new TorqueConstant);
//    apiParameterVector.push_back(new JointLimits);
//    apiParameterVector.push_back(new GearRatio);
//    apiParameterVector.push_back(new EncoderTicksPerRound);
//    apiParameterVector.push_back(new InverseMovementDirection);

//    for (int i = 0; i < apiParameterVector.size(); i++) {
//      joint.getConfigurationParameter(*(apiParameterVector[i]));
//      apiParameterVector[i]->toString(parameterString);
//      //   std::cout << parameterString << std::endl;
//      parametersBeginTraceFile << parameterString << std::endl;
//    }

  parametersBeginTraceFile << "Name: " << this->name << std::endl;
  parametersBeginTraceFile << "Date: " << boost::posix_time::to_simple_string(today) << std::endl;
  //  joint.getConfigurationParameter(jointName);
  jointName.toString(parameterString);
  //   std::cout << parameterString << std::endl;
  parametersBeginTraceFile << parameterString << std::endl;
  firmwareParameter.toString(parameterString);
  parametersBeginTraceFile << parameterString << std::endl;

  TorqueConstant torqueconst;
  joint.getConfigurationParameter(torqueconst);
  torqueconst.toString(parameterString);
  //   std::cout << parameterString << std::endl;
  parametersBeginTraceFile << parameterString << std::endl;

  JointLimits jointLimits;
  joint.getConfigurationParameter(jointLimits);
  jointLimits.toString(parameterString);
  //   std::cout << parameterString << std::endl;
  parametersBeginTraceFile << parameterString << std::endl;

  EncoderTicksPerRound encoderTicksPerRound;
  joint.getConfigurationParameter(encoderTicksPerRound);
  encoderTicksPerRound.toString(parameterString);
  //   std::cout << parameterString << std::endl;
  parametersBeginTraceFile << parameterString << std::endl;

  GearRatio gearRatio;
  joint.getConfigurationParameter(gearRatio);
  gearRatio.toString(parameterString);
  //   std::cout << parameterString << std::endl;
  parametersBeginTraceFile << parameterString << std::endl;

  InverseMovementDirection inverseMovementDirection;
  joint.getConfigurationParameter(inverseMovementDirection);
  inverseMovementDirection.toString(parameterString);
  //   std::cout << parameterString << std::endl;
  parametersBeginTraceFile << parameterString << std::endl;

  for (unsigned int i = 0; i < parameterVector.size(); i++)
  {
    joint.getConfigurationParameter(*(parameterVector[i]));
    parameterVector[i]->toString(parameterString);
    //   std::cout << parameterString << std::endl;
    parametersBeginTraceFile << parameterString << std::endl;
  }
  parametersBeginTraceFile.close();

  traceStartTime = microsec_clock::local_time();
  // Bouml preserved body end 000C93F1
}