motors.cpp

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/*
 * Copyright (c) 2019, Open Source Robotics Foundation
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the copyright holder nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */
 
#include <functional>
#include <memory>
 
#include <libphidget22/phidget22.h>
 
#include "phidgets_api/motors.h"
#include "phidgets_api/phidget22.h"
 
namespace phidgets {
 
Motors::Motors(int32_t serial_number, int hub_port, bool is_hub_port_device,
               std::function<void(int, double)> duty_cycle_change_handler,
               std::function<void(int, double)> back_emf_change_handler)
{
    PhidgetReturnCode ret;
 
    PhidgetDCMotorHandle motor_handle;
 
    ret = PhidgetDCMotor_create(&motor_handle);
    if (ret != EPHIDGET_OK)
    {
        throw Phidget22Error(
            "Failed to create Motor handle for determining channel "
            "count",
            ret);
    }
 
    PhidgetHandle handle = reinterpret_cast<PhidgetHandle>(motor_handle);
 
    helpers::openWaitForAttachment(handle, serial_number, hub_port,
                                   is_hub_port_device, 0);
 
    ret = Phidget_getDeviceChannelCount(handle, PHIDCHCLASS_DCMOTOR,
                                        &motor_count_);
 
    helpers::closeAndDelete(&handle);
 
    if (ret != EPHIDGET_OK)
    {
        throw Phidget22Error("Failed to get Motor device channel count", ret);
    }
 
    motors_.resize(motor_count_);
    for (uint32_t i = 0; i < motor_count_; ++i)
    {
        motors_[i] = std::make_unique<Motor>(
            serial_number, hub_port, is_hub_port_device, i,
            duty_cycle_change_handler, back_emf_change_handler);
    }
}
 
Motors::~Motors()
{
}
 
uint32_t Motors::getMotorCount() const noexcept
{
    return motor_count_;
}
 
double Motors::getDutyCycle(int index) const
{
    return motors_.at(index)->getDutyCycle();
}
 
void Motors::setDutyCycle(int index, double duty_cycle) const
{
    motors_.at(index)->setDutyCycle(duty_cycle);
}
 
double Motors::getAcceleration(int index) const
{
    return motors_.at(index)->getAcceleration();
}
 
void Motors::setAcceleration(int index, double acceleration) const
{
    motors_.at(index)->setAcceleration(acceleration);
}
 
double Motors::getBackEMF(int index) const
{
    return motors_.at(index)->getBackEMF();
}
 
void Motors::setDataInterval(int index, uint32_t data_interval_ms) const
{
    motors_.at(index)->setDataInterval(data_interval_ms);
}
 
double Motors::getBraking(int index) const
{
    return motors_.at(index)->getBraking();
}
 
void Motors::setBraking(int index, double braking) const
{
    motors_.at(index)->setBraking(braking);
}
 
}  // namespace phidgets