/**
* Enable the closed loop controller.
*
* Start actually controlling the output based on the feedback.
* If starting a position controller with an encoder reference,
* use the encoderInitialPosition parameter to initialize the
* encoder state.
*
* @param encoderInitialPosition Encoder position to set if position with encoder reference. Ignored otherwise.
*/
void CANJaguar::EnableControl(double encoderInitialPosition)
{
uint8_t dataBuffer[8];
uint8_t dataSize = 0;
switch(m_controlMode)
{
case kPercentVbus:
setTransaction(LM_API_VOLT_T_EN, dataBuffer, dataSize);
break;
case kSpeed:
setTransaction(LM_API_SPD_T_EN, dataBuffer, dataSize);
break;
case kPosition:
dataSize = packFXP16_16(dataBuffer, encoderInitialPosition);
setTransaction(LM_API_POS_T_EN, dataBuffer, dataSize);
break;
case kCurrent:
setTransaction(LM_API_ICTRL_T_EN, dataBuffer, dataSize);
break;
case kVoltage:
setTransaction(LM_API_VCOMP_T_EN, dataBuffer, dataSize);
break;
}
}
/**
* Configure what the controller does to the H-Bridge when neutral (not driving the output).
*
* This allows you to override the jumper configuration for brake or coast.
*
* @param mode Select to use the jumper setting or to override it to coast or brake.
*/
void CANJaguar::ConfigNeutralMode(NeutralMode mode)
{
uint8_t dataBuffer[8];
dataBuffer[0] = mode;
setTransaction(LM_API_CFG_BRAKE_COAST, dataBuffer, sizeof(uint8_t));
}
/**
* Configure Soft Position Limits when in Position Controller mode.
*
* When controlling position, you can add additional limits on top of the limit switch inputs
* that are based on the position feedback. If the position limit is reached or the
* switch is opened, that direction will be disabled.
*
* @param forwardLimitPosition The position that if exceeded will disable the forward direction.
* @param reverseLimitPosition The position that if exceeded will disable the reverse direction.
*/
void CANJaguar::ConfigSoftPositionLimits(double forwardLimitPosition, double reverseLimitPosition)
{
uint8_t dataBuffer[8];
uint8_t dataSize;
dataSize = packFXP16_16(dataBuffer, forwardLimitPosition);
dataBuffer[dataSize++] = forwardLimitPosition > reverseLimitPosition;
setTransaction(LM_API_CFG_LIMIT_FWD, dataBuffer, dataSize);
dataSize = packFXP16_16(dataBuffer, reverseLimitPosition);
dataBuffer[dataSize++] = forwardLimitPosition <= reverseLimitPosition;
setTransaction(LM_API_CFG_LIMIT_REV, dataBuffer, dataSize);
dataBuffer[0] = kLimitMode_SoftPositionLimits;
setTransaction(LM_API_CFG_LIMIT_MODE, dataBuffer, sizeof(uint8_t));
}
/**
* Disable Soft Position Limits if previously enabled.
*
* Soft Position Limits are disabled by default.
*/
void CANJaguar::DisableSoftPositionLimits()
{
uint8_t dataBuffer[8];
dataBuffer[0] = kLimitMode_SwitchInputsOnly;
setTransaction(LM_API_CFG_LIMIT_MODE, dataBuffer, sizeof(uint8_t));
}
/**
* Set the reference source device for speed controller mode.
*
* Choose encoder as the source of speed feedback when in speed control mode.
*
* @param reference Specify a SpeedReference.
*/
void CANJaguar::SetSpeedReference(SpeedReference reference)
{
uint8_t dataBuffer[8];
dataBuffer[0] = reference;
setTransaction(LM_API_SPD_REF, dataBuffer, sizeof(uint8_t));
}
/**
* Set the reference source device for position controller mode.
*
* Choose between using and encoder and using a potentiometer
* as the source of position feedback when in position control mode.
*
* @param reference Specify a PositionReference.
*/
void CANJaguar::SetPositionReference(PositionReference reference)
{
uint8_t dataBuffer[8];
dataBuffer[0] = reference;
setTransaction(LM_API_POS_REF, dataBuffer, sizeof(uint8_t));
}
void DeclExtractor::Transform() {
if (!getTransaction()->getCompilationOpts().DeclarationExtraction)
return;
if(!ExtractDecl(getTransaction()->getWrapperFD()))
setTransaction(0); // On error set to NULL.
}
/**
* Configure the maximum voltage that the Jaguar will ever output.
*
* This can be used to limit the maximum output voltage in all modes so that
* motors which cannot withstand full bus voltage can be used safely.
*
* @param voltage The maximum voltage output by the Jaguar.
*/
void CANJaguar::ConfigMaxOutputVoltage(double voltage)
{
UINT8 dataBuffer[8];
UINT8 dataSize;
dataSize = packFXP8_8(dataBuffer, voltage);
setTransaction(LM_API_CFG_MAX_VOUT, dataBuffer, dataSize);
}
/**
* Configure the number of turns on the potentiometer.
*
* There is no special support for continuous turn potentiometers.
* Only integer numbers of turns are supported.
*
* @param turns The number of turns of the potentiometer
*/
void CANJaguar::ConfigPotentiometerTurns(UINT16 turns)
{
UINT8 dataBuffer[8];
UINT8 dataSize;
dataSize = packINT16(dataBuffer, turns);
setTransaction(LM_API_CFG_POT_TURNS, dataBuffer, dataSize);
}
/**
* Configure how many codes per revolution are generated by your encoder.
*
* @param codesPerRev The number of counts per revolution in 1X mode.
*/
void CANJaguar::ConfigEncoderCodesPerRev(UINT16 codesPerRev)
{
UINT8 dataBuffer[8];
UINT8 dataSize;
dataSize = packINT16(dataBuffer, codesPerRev);
setTransaction(LM_API_CFG_ENC_LINES, dataBuffer, dataSize);
}
void ValuePrinterSynthesizer::Transform() {
if (getTransaction()->getCompilationOpts().ValuePrinting
== CompilationOptions::VPDisabled)
return;
if (!tryAttachVP(getTransaction()->getWrapperFD()))
return setTransaction(0); // On error set to NULL.
}
/**
* Configure how many codes per revolution are generated by your encoder.
*
* @param codesPerRev The number of counts per revolution in 1X mode.
*/
void CANJaguar::ConfigEncoderCodesPerRev(uint16_t codesPerRev)
{
uint8_t dataBuffer[8];
uint8_t dataSize;
dataSize = packint16_t(dataBuffer, codesPerRev);
setTransaction(LM_API_CFG_ENC_LINES, dataBuffer, dataSize);
}
/**
* Configure the number of turns on the potentiometer.
*
* There is no special support for continuous turn potentiometers.
* Only integer numbers of turns are supported.
*
* @param turns The number of turns of the potentiometer
*/
void CANJaguar::ConfigPotentiometerTurns(uint16_t turns)
{
uint8_t dataBuffer[8];
uint8_t dataSize;
dataSize = packint16_t(dataBuffer, turns);
setTransaction(LM_API_CFG_POT_TURNS, dataBuffer, dataSize);
}
/**
* Configure how long the Jaguar waits in the case of a fault before resuming operation.
*
* Faults include over temerature, over current, and bus under voltage.
* The default is 3.0 seconds, but can be reduced to as low as 0.5 seconds.
*
* @param faultTime The time to wait before resuming operation, in seconds.
*/
void CANJaguar::ConfigFaultTime(float faultTime)
{
UINT8 dataBuffer[8];
UINT8 dataSize;
// Message takes ms
dataSize = packINT16(dataBuffer, (INT16)(faultTime * 1000.0));
setTransaction(LM_API_CFG_FAULT_TIME, dataBuffer, dataSize);
}
/**
* Configure how long the Jaguar waits in the case of a fault before resuming operation.
*
* Faults include over temerature, over current, and bus under voltage.
* The default is 3.0 seconds, but can be reduced to as low as 0.5 seconds.
*
* @param faultTime The time to wait before resuming operation, in seconds.
*/
void CANJaguar::ConfigFaultTime(float faultTime)
{
uint8_t dataBuffer[8];
uint8_t dataSize;
// Message takes ms
dataSize = packint16_t(dataBuffer, (int16_t)(faultTime * 1000.0));
setTransaction(LM_API_CFG_FAULT_TIME, dataBuffer, dataSize);
}
/**
* Set the output set-point value.
*
* The scale and the units depend on the mode the Jaguar is in.
* In PercentVbus Mode, the outputValue is from -1.0 to 1.0 (same as PWM Jaguar).
* In Voltage Mode, the outputValue is in Volts.
* In Current Mode, the outputValue is in Amps.
* In Speed Mode, the outputValue is in Rotations/Minute.
* In Position Mode, the outputValue is in Rotations.
*
* @param outputValue The set-point to sent to the motor controller.
* @param syncGroup The update group to add this Set() to, pending UpdateSyncGroup(). If 0, update immediately.
*/
void CANJaguar::Set(float outputValue, uint8_t syncGroup)
{
uint32_t messageID;
uint8_t dataBuffer[8];
uint8_t dataSize;
if (m_safetyHelper && !m_safetyHelper->IsAlive())
{
EnableControl();
}
switch(m_controlMode)
{
case kPercentVbus:
{
messageID = LM_API_VOLT_T_SET;
if (outputValue > 1.0) outputValue = 1.0;
if (outputValue < -1.0) outputValue = -1.0;
dataSize = packPercentage(dataBuffer, outputValue);
}
break;
case kSpeed:
{
messageID = LM_API_SPD_T_SET;
dataSize = packFXP16_16(dataBuffer, outputValue);
}
break;
case kPosition:
{
messageID = LM_API_POS_T_SET;
dataSize = packFXP16_16(dataBuffer, outputValue);
}
break;
case kCurrent:
{
messageID = LM_API_ICTRL_T_SET;
dataSize = packFXP8_8(dataBuffer, outputValue);
}
break;
case kVoltage:
{
messageID = LM_API_VCOMP_T_SET;
dataSize = packFXP8_8(dataBuffer, outputValue);
}
break;
default:
return;
}
if (syncGroup != 0)
{
dataBuffer[dataSize] = syncGroup;
dataSize++;
}
setTransaction(messageID, dataBuffer, dataSize);
if (m_safetyHelper) m_safetyHelper->Feed();
}
/**
* Set the maximum voltage change rate.
*
* When in PercentVbus or Voltage output mode, the rate at which the voltage changes can
* be limited to reduce current spikes. Set this to 0.0 to disable rate limiting.
*
* @param rampRate The maximum rate of voltage change in Percent Voltage mode in V/s.
*/
void CANJaguar::SetVoltageRampRate(double rampRate)
{
uint8_t dataBuffer[8];
uint8_t dataSize;
switch(m_controlMode)
{
case kPercentVbus:
dataSize = packPercentage(dataBuffer, rampRate / (m_maxOutputVoltage * kControllerRate));
setTransaction(LM_API_VOLT_SET_RAMP, dataBuffer, dataSize);
break;
case kVoltage:
dataSize = packFXP8_8(dataBuffer, rampRate / kControllerRate);
setTransaction(LM_API_VCOMP_IN_RAMP, dataBuffer, dataSize);
break;
default:
return;
}
}
ResponseHandler* RequestHandlerAdaptor::newPushedResponse(
PushHandler* pushHandler) noexcept {
auto pushTxn = txn_->newPushedTransaction(pushHandler->getHandler());
if (!pushTxn) {
// Codec doesn't support push
return nullptr;
}
auto pushHandlerAdaptor = new RequestHandlerAdaptor(pushHandler);
pushHandlerAdaptor->setTransaction(pushTxn);
return pushHandlerAdaptor;
}
void PkInstallProvideFiles::search()
{
PkTransaction *transaction = new PkTransaction(this);
transaction->setupTransaction(Daemon::searchFiles(m_args,
Transaction::FilterArch | Transaction::FilterNewest));
setTransaction(Transaction::RoleSearchFile, transaction);
connect(transaction, SIGNAL(finished(PkTransaction::ExitStatus)),
this, SLOT(searchFinished(PkTransaction::ExitStatus)), Qt::UniqueConnection);
connect(transaction, SIGNAL(package(PackageKit::Transaction::Info,QString,QString)),
this, SLOT(addPackage(PackageKit::Transaction::Info,QString,QString)));
}
void DeclExtractor::Transform() {
if (!getTransaction()->getCompilationOpts().DeclarationExtraction)
return;
for (Transaction::const_iterator I = getTransaction()->decls_begin(),
E = getTransaction()->decls_end(); I != E; ++I)
for (DeclGroupRef::const_iterator J = (*I).begin(),
JE = (*I).end(); J != JE; ++J)
if(!ExtractDecl(*J))
setTransaction(0); // On error set to NULL.
}
/**
* Disable the closed loop controller.
*
* Stop driving the output based on the feedback.
*/
void CANJaguar::DisableControl()
{
UINT8 dataBuffer[8];
UINT8 dataSize = 0;
switch(m_controlMode)
{
case kPercentVoltage:
// TODO: Error, Not Valid
break;
case kSpeed:
setTransaction(LM_API_SPD_DIS, dataBuffer, dataSize);
break;
case kPosition:
setTransaction(LM_API_POS_DIS, dataBuffer, dataSize);
break;
case kCurrent:
setTransaction(LM_API_ICTRL_DIS, dataBuffer, dataSize);
break;
}
}
/**
* Enable the closed loop controller.
*
* Start actually controlling the output based on the feedback.
* If starting a position controller with an encoder reference,
* use the encoderInitialPosition parameter to initialize the
* encoder state.
*
* @param encoderInitialPosition Encoder position to set if position with encoder reference. Ignored otherwise.
*/
void CANJaguar::EnableControl(double encoderInitialPosition)
{
UINT8 dataBuffer[8];
UINT8 dataSize = 0;
switch(m_controlMode)
{
case kPercentVoltage:
// TODO: Error, Not Valid
break;
case kSpeed:
setTransaction(LM_API_SPD_T_EN, dataBuffer, dataSize);
break;
case kPosition:
dataSize = packFXP16_16(dataBuffer, encoderInitialPosition);
setTransaction(LM_API_POS_T_EN, dataBuffer, dataSize);
break;
case kCurrent:
setTransaction(LM_API_ICTRL_T_EN, dataBuffer, dataSize);
break;
}
}
/**
* Set the reference source device for position controller mode.
*
* Choose between using and encoder and using a potentiometer
* as the source of position feedback when in position control mode.
*
* @param reference Specify a PositionReference.
*/
void CANJaguar::SetPositionReference(PositionReference reference)
{
UINT8 dataBuffer[8];
switch(m_controlMode)
{
case kPosition:
dataBuffer[0] = reference;
setTransaction(LM_API_POS_REF, dataBuffer, sizeof(UINT8));
break;
default:
// TODO: Error, Invalid
return;
}
}
/**
* Disable the closed loop controller.
*
* Stop driving the output based on the feedback.
*/
void CANJaguar::DisableControl()
{
uint8_t dataBuffer[8];
uint8_t dataSize = 0;
switch(m_controlMode)
{
case kPercentVbus:
setTransaction(LM_API_VOLT_DIS, dataBuffer, dataSize);
break;
case kSpeed:
setTransaction(LM_API_SPD_DIS, dataBuffer, dataSize);
break;
case kPosition:
setTransaction(LM_API_POS_DIS, dataBuffer, dataSize);
break;
case kCurrent:
setTransaction(LM_API_ICTRL_DIS, dataBuffer, dataSize);
break;
case kVoltage:
setTransaction(LM_API_VCOMP_DIS, dataBuffer, dataSize);
break;
}
}
/**
* Set the maximum voltage change rate.
*
* When in percent voltage output mode, the rate at which the voltage changes can
* be limited to reduce current spikes. Set this to 0.0 to disable rate limiting.
*
* @param rampRate The maximum rate of voltage change in Percent Voltage mode in V/s.
*/
void CANJaguar::SetVoltageRampRate(double rampRate)
{
UINT8 dataBuffer[8];
UINT8 dataSize;
switch(m_controlMode)
{
case kPercentVoltage:
dataSize = packPercentage(dataBuffer, rampRate / (kApproxBusVoltage * kApproxBusVoltage));
setTransaction(LM_API_VOLT_SET_RAMP, dataBuffer, dataSize);
break;
default:
return;
}
}
/**
* Set the P, I, and D constants for the closed loop modes.
*
* @param p The proportional gain of the Jaguar's PID controller.
* @param i The integral gain of the Jaguar's PID controller.
* @param d The differential gain of the Jaguar's PID controller.
*/
void CANJaguar::SetPID(double p, double i, double d)
{
uint8_t dataBuffer[8];
uint8_t dataSize;
switch(m_controlMode)
{
case kPercentVbus:
case kVoltage:
wpi_setWPIErrorWithContext(IncompatibleMode, "PID constants only apply in Speed, Position, and Current mode");
break;
case kSpeed:
dataSize = packFXP16_16(dataBuffer, p);
setTransaction(LM_API_SPD_PC, dataBuffer, dataSize);
dataSize = packFXP16_16(dataBuffer, i);
setTransaction(LM_API_SPD_IC, dataBuffer, dataSize);
dataSize = packFXP16_16(dataBuffer, d);
setTransaction(LM_API_SPD_DC, dataBuffer, dataSize);
break;
case kPosition:
dataSize = packFXP16_16(dataBuffer, p);
setTransaction(LM_API_POS_PC, dataBuffer, dataSize);
dataSize = packFXP16_16(dataBuffer, i);
setTransaction(LM_API_POS_IC, dataBuffer, dataSize);
dataSize = packFXP16_16(dataBuffer, d);
setTransaction(LM_API_POS_DC, dataBuffer, dataSize);
break;
case kCurrent:
dataSize = packFXP16_16(dataBuffer, p);
setTransaction(LM_API_ICTRL_PC, dataBuffer, dataSize);
dataSize = packFXP16_16(dataBuffer, i);
setTransaction(LM_API_ICTRL_IC, dataBuffer, dataSize);
dataSize = packFXP16_16(dataBuffer, d);
setTransaction(LM_API_ICTRL_DC, dataBuffer, dataSize);
break;
}
}
/**
* Check if the Jaguar's power has been cycled since this was last called.
*
* This should return true the first time called after a Jaguar power up,
* and false after that.
*
* @return The Jaguar was power cycled since the last call to this function.
*/
bool CANJaguar::GetPowerCycled()
{
UINT8 dataBuffer[8];
UINT8 dataSize;
getTransaction(LM_API_STATUS_POWER, dataBuffer, &dataSize);
if (dataSize == sizeof(UINT8))
{
bool powerCycled = (*dataBuffer != 0);
// Clear the power cycled bit now that we've accessed it
dataBuffer[0] = 1;
setTransaction(LM_API_STATUS_POWER, dataBuffer, sizeof(UINT8));
return powerCycled;
}
return 0;
}
/**
* Set the P, I, and D constants for the closed loop modes.
*
* @param p The proportional gain of the Jaguar's PID controller.
* @param i The integral gain of the Jaguar's PID controller.
* @param d The differential gain of the Jaguar's PID controller.
*/
void CANJaguar::SetPID(double p, double i, double d)
{
UINT8 dataBuffer[8];
UINT8 dataSize;
switch(m_controlMode)
{
case kPercentVbus:
case kVoltage:
// TODO: Error, Not Valid
break;
case kSpeed:
dataSize = packFXP16_16(dataBuffer, p);
setTransaction(LM_API_SPD_PC, dataBuffer, dataSize);
dataSize = packFXP16_16(dataBuffer, i);
setTransaction(LM_API_SPD_IC, dataBuffer, dataSize);
dataSize = packFXP16_16(dataBuffer, d);
setTransaction(LM_API_SPD_DC, dataBuffer, dataSize);
break;
case kPosition:
dataSize = packFXP16_16(dataBuffer, p);
setTransaction(LM_API_POS_PC, dataBuffer, dataSize);
dataSize = packFXP16_16(dataBuffer, i);
setTransaction(LM_API_POS_IC, dataBuffer, dataSize);
dataSize = packFXP16_16(dataBuffer, d);
setTransaction(LM_API_POS_DC, dataBuffer, dataSize);
break;
case kCurrent:
dataSize = packFXP16_16(dataBuffer, p);
setTransaction(LM_API_ICTRL_PC, dataBuffer, dataSize);
dataSize = packFXP16_16(dataBuffer, i);
setTransaction(LM_API_ICTRL_IC, dataBuffer, dataSize);
dataSize = packFXP16_16(dataBuffer, d);
setTransaction(LM_API_ICTRL_DC, dataBuffer, dataSize);
break;
}
}
/**
* Set the output set-point value.
*
* In PercentVoltage Mode, the input is in the range -1.0 to 1.0
*
* @param outputValue The set-point to sent to the motor controller.
*/
void CANJaguar::Set(float outputValue)
{
UINT32 messageID;
UINT8 dataBuffer[8];
UINT8 dataSize;
switch(m_controlMode)
{
case kPercentVoltage:
{
messageID = LM_API_VOLT_T_SET;
dataSize = packPercentage(dataBuffer, outputValue);
}
break;
case kSpeed:
{
messageID = LM_API_SPD_T_SET;
dataSize = packFXP16_16(dataBuffer, outputValue);
}
break;
case kPosition:
{
messageID = LM_API_POS_T_SET;
dataSize = packFXP16_16(dataBuffer, outputValue);
}
break;
case kCurrent:
{
messageID = LM_API_ICTRL_T_SET;
dataSize = packFXP8_8(dataBuffer, outputValue);
}
break;
default:
return;
}
setTransaction(messageID, dataBuffer, dataSize);
}
void Delete::execute()
{
if ( state() != Executing || !ok() )
return;
if ( d->first ) {
d->first = false;
// We should really require DeleteMessages and Expunge only if
// we know the mailbox isn't empty; but we'll know that inside
// the transaction, and permitted() won't let us clean that up
// if we don't have permission. So it'll have to wait until we
// query permissions ourselves.
requireRight( d->m, Permissions::DeleteMailbox );
requireRight( d->m, Permissions::DeleteMessages );
requireRight( d->m, Permissions::Expunge );
}
if ( !permitted() )
return;
if ( !transaction() ) {
setTransaction( new Transaction( this ) );
Query * lock = new Query( "select * from mailboxes "
"where id=$1 for update", 0 );
lock->bind( 1, d->m->id() );
transaction()->enqueue( lock );
d->messages = new Query( "select count(mm.uid)::bigint as messages "
"from mailbox_messages mm "
"join messages m on (mm.message=m.id) "
"join mailboxes mb on (mm.mailbox=mb.id) "
"where mm.mailbox=$1 and not mm.seen and "
"(mm.uid>=mb.first_recent or m.idate>$2)",
this );
d->messages->bind( 1, d->m->id() );
Date now;
now.setCurrentTime();
d->messages->bind( 2, now.unixTime() - 20 );
transaction()->enqueue( d->messages );
transaction()->execute();
}
if ( d->messages ) {
if ( !d->messages->done() )
return;
int64 messages = 0;
Row * r = d->messages->nextRow();
if ( d->messages->failed() || !r )
error( No, "Could not determine if any messages exist" );
else
messages = r->getBigint( "messages" );
if ( messages )
error( No, "Cannot delete mailbox: " + fn( messages ) +
" messages exist" );
d->messages = 0;
if ( ok() && d->m->remove( transaction() ) == 0 )
error( No, "Cannot delete mailbox " + d->m->name().ascii() );
Mailbox::refreshMailboxes( transaction() );
transaction()->commit();
}
if ( !transaction()->done() )
return;
if ( transaction()->failed() ) {
error( No, "Database error: " + transaction()->error() );
return;
}
finish();
}
