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GrimmgockelGrimmgockel
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Merge branch '83-implementation-hal-aktorik' into 'master'
Resolve "Implementation HAL Aktorik" Closes #83 See merge request ss21-esep-gruppe-2.3/esep!37
2 parents c873d08 + 8fcfe25 commit 97478a4

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‎esep_ss2021_Gruppe2_3/.cproject‎

Lines changed: 16 additions & 16 deletions
Original file line numberDiff line numberDiff line change
@@ -12,7 +12,7 @@
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15-
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15+
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@@ -21,16 +21,16 @@
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24-
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24+
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@@ -50,7 +50,7 @@
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53+
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@@ -59,16 +59,16 @@
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62-
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62+
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@@ -88,7 +88,7 @@
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100-
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100+
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102-
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102+
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@@ -126,7 +126,7 @@
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138-
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138+
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‎esep_ss2021_Gruppe2_3/Makefile‎

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Original file line numberDiff line numberDiff line change
@@ -15,6 +15,7 @@ TARGET = $(OUTPUT_DIR)/$(ARTIFACT)
1515
CC = qcc -Vgcc_nto$(PLATFORM)
1616
CXX = qcc -lang-c++ -Vgcc_nto$(PLATFORM) -DSIM_SOW_SENSORS -DSIM_SHOW_ACTUATORS
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CXX += -DSIM_REPORT -DSIM_EXT_CTRL
18+
# CXX += -std=c++14 # only runs with C++ 11
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# - - - - - - - - - - - - - - - - - - - - TESTS AN/AUS - - - - - - - - - - - - - - - - - - - -
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#CXX += -DTEST_ENABLE
@@ -31,6 +32,7 @@ INCLUDES += -Isrc/simulation/simulationbase
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INCLUDES += -Isrc/simulation/simulationcore
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INCLUDES += -Isrc/simulation/simulationudpqnx
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INCLUDES += -Itest
35+
INCLUDES += -Isrc/actuators
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#LIBS += -L/path/to/my/lib/$(PLATFORM)/usr/lib -lmylib
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#LIBS += -L../mylib/$(OUTPUT_DIR) -lmylib
3638
LIBS += -lsocket

‎esep_ss2021_Gruppe2_3/src/actuators/BlinkWorker.cpp‎

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Original file line numberDiff line numberDiff line change
@@ -0,0 +1,76 @@
1+
/*
2+
* BlinkWorker.cpp
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*
4+
* Created on: 30.04.2021
5+
* Author: jendr
6+
*/
7+
8+
#include <../actuators/BlinkWorker.h>
9+
#include <iostream>
10+
#include <memory>
11+
12+
namespace hal {
13+
14+
BlinkWorker::BlinkWorker(std::shared_ptr<GPIOWrapper> gpio) :
15+
_gpio { gpio }, _running { true }, _duty_cycle { 1000 }, _color { hal::RED } {
16+
_blink_lock.try_lock();
17+
}
18+
19+
void BlinkWorker::run() {
20+
int val = 0;
21+
while (_running) {
22+
_blink_lock.lock();
23+
_blink_lock.unlock();
24+
val = !val;
25+
switch (_color) {
26+
case GREEN:
27+
_gpio->out(gpio_adresses::BANK_ACTUATOR,
28+
gpio_adresses::AMPEL_GRUEN_1, val);
29+
break;
30+
case YELLOW:
31+
_gpio->out(gpio_adresses::BANK_ACTUATOR,
32+
gpio_adresses::AMPEL_GELB_1, val);
33+
break;
34+
default:
35+
_gpio->out(gpio_adresses::BANK_ACTUATOR, gpio_adresses::AMPEL_ROT_1,
36+
val);
37+
break;
38+
}
39+
40+
std::this_thread::sleep_for (std::chrono::milliseconds(_duty_cycle/2));
41+
}
42+
}
43+
44+
void BlinkWorker::stop_loop() {
45+
stop_blinking();
46+
_blink_lock.unlock();
47+
_running = false;
48+
}
49+
50+
void BlinkWorker::set_duty_cycle(const uint32_t milliseconds) {
51+
_duty_cycle = milliseconds;
52+
}
53+
54+
void BlinkWorker::start_blinking(Color c) {
55+
_color = c;
56+
_blink_lock.try_lock();
57+
_blink_lock.unlock();
58+
_gpio->out(gpio_adresses::BANK_ACTUATOR, gpio_adresses::AMPEL_GRUEN_1, 0);
59+
_gpio->out(gpio_adresses::BANK_ACTUATOR, gpio_adresses::AMPEL_GELB_1, 0);
60+
_gpio->out(gpio_adresses::BANK_ACTUATOR, gpio_adresses::AMPEL_ROT_1, 0);
61+
}
62+
63+
void BlinkWorker::stop_blinking() {
64+
_blink_lock.try_lock();
65+
_gpio->out(gpio_adresses::BANK_ACTUATOR, gpio_adresses::AMPEL_GRUEN_1, 0);
66+
_gpio->out(gpio_adresses::BANK_ACTUATOR, gpio_adresses::AMPEL_GELB_1, 0);
67+
_gpio->out(gpio_adresses::BANK_ACTUATOR, gpio_adresses::AMPEL_ROT_1, 0);
68+
}
69+
70+
BlinkWorker::~BlinkWorker() {
71+
_running = false;
72+
_blink_lock.try_lock();
73+
_blink_lock.unlock();
74+
}
75+
76+
} /* namespace hal */

‎esep_ss2021_Gruppe2_3/src/actuators/BlinkWorker.h‎

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Original file line numberDiff line numberDiff line change
@@ -0,0 +1,41 @@
1+
/*
2+
* BlinkWorker.h
3+
*
4+
* Created on: 30.04.2021
5+
* Author: jendr
6+
*/
7+
8+
#ifndef SRC_ACTUATORS_BLINKWORKER_H_
9+
#define SRC_ACTUATORS_BLINKWORKER_H_
10+
11+
#include <mutex>
12+
#include <thread>
13+
#include "../gpiowrapper.h"
14+
#include "color.h"
15+
#include <chrono>
16+
17+
namespace hal {
18+
19+
class BlinkWorker {
20+
public:
21+
BlinkWorker(std::shared_ptr<GPIOWrapper>);
22+
BlinkWorker(const BlinkWorker&);
23+
void run();
24+
void set_duty_cycle(const uint32_t milliseconds = 1000);
25+
void start_blinking(Color);
26+
void stop_blinking();
27+
void stop_loop();
28+
virtual ~BlinkWorker();
29+
30+
private:
31+
std::shared_ptr<GPIOWrapper> _gpio;
32+
bool _running;
33+
useconds_t _duty_cycle;
34+
hal::Color _color;
35+
std::mutex _blink_lock;
36+
37+
};
38+
39+
} /* namespace hal */
40+
41+
#endif /* SRC_ACTUATORS_BLINKWORKER_H_ */

‎esep_ss2021_Gruppe2_3/src/actuators/cb_motor.cpp‎

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Original file line numberDiff line numberDiff line change
@@ -0,0 +1,51 @@
1+
/*
2+
* cb_motor.cpp
3+
*
4+
* Created on: 28.04.2021
5+
* Author: Justin Hoffmann
6+
*/
7+
8+
#include "../actuators/cb_motor.h"
9+
10+
namespace hal {
11+
12+
CBMotor::CBMotor(std::shared_ptr<GPIOWrapper> gpio) {
13+
_gpio = gpio;
14+
}
15+
16+
void CBMotor::set_direction(Direction direction) {
17+
switch(direction){
18+
case FAST_FORWARDS:
19+
_gpio->out(gpio_adresses::BANK_ACTUATOR, gpio_adresses::MOTOR_STOP_1, 0);
20+
_gpio->out(gpio_adresses::BANK_ACTUATOR, gpio_adresses::MOTOR_LANGSAM_1, 0);
21+
_gpio->out(gpio_adresses::BANK_ACTUATOR, gpio_adresses::MOTOR_LINKS_1, 0);
22+
_gpio->out(gpio_adresses::BANK_ACTUATOR, gpio_adresses::MOTOR_RECHTS_1, 1);
23+
break;
24+
case SLOW_FORWARDS:
25+
_gpio->out(gpio_adresses::BANK_ACTUATOR, gpio_adresses::MOTOR_STOP_1, 0);
26+
_gpio->out(gpio_adresses::BANK_ACTUATOR, gpio_adresses::MOTOR_LINKS_1, 0);
27+
_gpio->out(gpio_adresses::BANK_ACTUATOR, gpio_adresses::MOTOR_LANGSAM_1, 1);
28+
_gpio->out(gpio_adresses::BANK_ACTUATOR, gpio_adresses::MOTOR_RECHTS_1, 1);
29+
break;
30+
case FAST_BACKWARDS:
31+
_gpio->out(gpio_adresses::BANK_ACTUATOR, gpio_adresses::MOTOR_STOP_1, 0);
32+
_gpio->out(gpio_adresses::BANK_ACTUATOR, gpio_adresses::MOTOR_LANGSAM_1, 0);
33+
_gpio->out(gpio_adresses::BANK_ACTUATOR, gpio_adresses::MOTOR_RECHTS_1, 0);
34+
_gpio->out(gpio_adresses::BANK_ACTUATOR, gpio_adresses::MOTOR_LINKS_1, 1);
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break;
36+
case SLOW_BACKWARDS:
37+
_gpio->out(gpio_adresses::BANK_ACTUATOR, gpio_adresses::MOTOR_STOP_1, 0);
38+
_gpio->out(gpio_adresses::BANK_ACTUATOR, gpio_adresses::MOTOR_RECHTS_1, 0);
39+
_gpio->out(gpio_adresses::BANK_ACTUATOR, gpio_adresses::MOTOR_LANGSAM_1, 1);
40+
_gpio->out(gpio_adresses::BANK_ACTUATOR, gpio_adresses::MOTOR_LINKS_1, 1);
41+
break;
42+
default:
43+
_gpio->out(gpio_adresses::BANK_ACTUATOR, gpio_adresses::MOTOR_LANGSAM_1, 0);
44+
_gpio->out(gpio_adresses::BANK_ACTUATOR, gpio_adresses::MOTOR_LINKS_1, 0);
45+
_gpio->out(gpio_adresses::BANK_ACTUATOR, gpio_adresses::MOTOR_RECHTS_1, 0);
46+
_gpio->out(gpio_adresses::BANK_ACTUATOR, gpio_adresses::MOTOR_STOP_1, 1);
47+
}
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}
49+
50+
}
51+

‎esep_ss2021_Gruppe2_3/src/actuators/cb_motor.h‎

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/*
2+
* cb_motor.h
3+
*
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* Created on: 28.04.2021
5+
* Author: Justin Hoffmann
6+
*/
7+
8+
#ifndef SRC_ACTUATORS_CB_MOTOR_H_
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#define SRC_ACTUATORS_CB_MOTOR_H_
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11+
#include "../gpiowrapper.h"
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#include <memory>
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14+
namespace hal {
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enum Direction {
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FAST_FORWARDS = 0, SLOW_FORWARDS, STOP, SLOW_BACKWARDS, FAST_BACKWARDS
18+
};
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class CBMotor {
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private:
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std::shared_ptr<GPIOWrapper> _gpio;
23+
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public:
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CBMotor(std::shared_ptr<GPIOWrapper>);
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virtual ~CBMotor() = default;
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void set_direction(Direction);
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};
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}
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32+
#endif /* SRC_ACTUATORS_CB_MOTOR_H_ */

‎esep_ss2021_Gruppe2_3/src/actuators/color.h‎

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1+
#ifndef COLOR_H
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#define COLOR_H
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4+
namespace hal{
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6+
enum Color {
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GREEN = 0, YELLOW, RED
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};
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10+
}
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#endif

‎esep_ss2021_Gruppe2_3/src/actuators/ejector.cpp‎

Lines changed: 37 additions & 0 deletions
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1+
/*
2+
* ejector.cpp
3+
*
4+
* Created on: 28.04.2021
5+
* Author: Justin Hoffmann
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*/
7+
8+
#include "../actuators/ejector.h"
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10+
namespace hal {
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Ejector::Ejector(std::shared_ptr<GPIOWrapper> gpio) :
13+
SortingMechanism(gpio) {
14+
}
15+
16+
void Ejector::do_not_discard() const {
17+
_gpio->out(gpio_adresses::BANK_ACTUATOR, gpio_adresses::WEICHE_OEFFNEN_1,
18+
0);
19+
}
20+
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void Ejector::discard() const {
22+
_gpio->out(gpio_adresses::BANK_ACTUATOR, gpio_adresses::WEICHE_OEFFNEN_1,
23+
1);
24+
}
25+
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bool Ejector::is_open() const {
27+
return _gpio->in(gpio_adresses::BANK_INPUT, gpio_adresses::WEICHE_OFFEN_0)
28+
== 0;
29+
}
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void Ejector::reset() const {
32+
_gpio->out(gpio_adresses::BANK_ACTUATOR, gpio_adresses::WEICHE_OEFFNEN_1,
33+
0);
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}
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36+
}
37+

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