OpenEL  3.0.0
sample.c
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1 
12 /*
13 
14 Copyright (c) 2017, Japan Embedded Systems Technology Association(JASA)
15 All rights reserved.
16 
17 Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
18 
19  Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
20  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.
21  Neither the name of the Association nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
22 
23 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 HOLDER 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 INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
24 */
25 #include "openEL.h"
26 #include <stdint.h>
27 #include <stdlib.h>
28 #include <stdio.h>
29 #include <unistd.h>
30 
31 void motor_notify_event(HALCOMPONENT_T *halComponent, int32_t event_id)
32 {
33  printf("motor_notify_event\n");
34 // printf("vendorId=%x productId=%x instanceId=%x event_id=%d\n", halId.vendorId, halId.productId, halId.instanceId, event_id);
35 }
36 
37 void motor_notify_error(HALCOMPONENT_T *halComponent, int32_t error_id)
38 {
39  printf("motor_notify_error\n");
40 // printf("vendorId=%x productId=%x instanceId=%x error_id=%d\n", halId.vendorId, halId.productId, halId.instanceId, error_id);
41 }
42 
44 {
45  printf("motor_notify_timer\n");
46 }
47 
48 int main()
49 {
50  HALCOMPONENT_T motor_1;
51 // HALCOMPONENT_T motor_2;
52 // POSITIONCONTROLACTUATOR_T motor_1;
53 // VELOCITYCONTROLACTUATOR_T motor_2;
54 // TORQUECONTROLACTUATOR_T motor_3;
55  HALCOMPONENT_T sensor_1;
56 // TORQUESENSOR sensor_1;
57  /* 初期設定 */
58  motor_1.positionControlActuator.halId.deviceKindId=0x00000010;
59  motor_1.positionControlActuator.halId.vendorId=0x00000000;
60  motor_1.positionControlActuator.halId.productId=0x12345678;
61  motor_1.positionControlActuator.halId.instanceId=0x00000001;
62 
63 // motor_1.halId.deviceKindId=0x00000010;
64 // motor_1.halId.vendorId=0x00000000;
65 // motor_1.halId.productId=0x12345678;
66 // motor_1.halId.instanceId=0x00000001;
67 
68 // motor_2.halId.deviceKindId=0x00000010;
69 // motor_2.halId.vendorId=0x00000000;
70 // motor_2.halId.productId=0x12345678;
71 // motor_2.halId.instanceId=0x00000002;
72 
73  sensor_1.torqueSensor.halId.deviceKindId=0x00000020;
74  sensor_1.torqueSensor.halId.vendorId=0x00000000;
75  sensor_1.torqueSensor.halId.productId=0x80000001;
76  sensor_1.torqueSensor.halId.instanceId=0x00000001;
77 
78  HALOBSERVER_T motor_1_observer_1;
79  motor_1_observer_1.notify_event = motor_notify_event;
80  motor_1_observer_1.notify_error = motor_notify_error;
81 // HalAddObserver(&motor_1.halComponent, &motor_1_observer_1);
82 
83  TIMEROBSERVER_T timerObserver_1;
84  timerObserver_1.notify_timer = motor_notify_timer;
85 
86  EVENTTIMER_T eventTimer_1;
87 // HalEventTimerAddObserver(&eventTimer_1, &timerObserver_1);
88 // HalEventTimerSetEventPeriod(&eventTimer_1, 100);
89 // HalEventTimerStartTimer(&eventTimer_1);
90 
91 // if(HAL_OK == HalInit((HALCOMPONENT*)&motor_1))
92  if(HAL_OK == HalInit(&motor_1))
93  printf("HAL_OK\n");
94  else
95  printf("HAL_ERROR\n");
96 #if 0
97  if(HAL_OK == HalInit(&motor_2))
98  printf("HAL_OK\n");
99  else
100  printf("HAL_ERROR\n");
101 #endif
102  if(HAL_OK == HalInit(&sensor_1))
103  printf("HAL_OK\n");
104  else
105  printf("HAL_ERROR\n");
106 #if 0
107  if(HAL_OK == HalReInit(&motor_1))
108  printf("HAL_OK\n");
109  else
110  printf("HAL_ERROR\n");
111 #endif
112  float32_t position=123;
113  float32_t value=0;
114  int32_t timer_value=0;
115 
116  if(HAL_OK == HalSetPosition(&motor_1, position))
117  printf("HAL_OK\n");
118  else
119  printf("HAL_ERROR\n");
120 
121  if(HAL_OK == HalGetPosition(&motor_1, &position))
122  printf("HAL_OK\n");
123  else
124  printf("HAL_ERROR\n");
125 
126  printf("position=%f\n", position);
127 #if 0
128  if(HAL_OK == HalFinalize(&motor_1))
129  printf("HAL_OK\n");
130  else
131  printf("HAL_ERROR\n");
132 #endif
133  if(HAL_OK == HalTorqueSensorGetValue(&sensor_1, &value))
134  printf("HAL_OK\n");
135  else
136  printf("HAL_ERROR\n");
137  printf("value=%f\n", value);
138 
139  if(HAL_OK == HalTorqueSensorGetTimedValue(&sensor_1, &value, &timer_value))
140  printf("HAL_OK\n");
141  else
142  printf("HAL_ERROR\n");
143  printf("value=%f, timer_value=%d\n", value, timer_value);
144 
145 #if 0
146  if(HAL_OK == HalFinalize(&motor_1.halComponent)) /* 2回コールした場合 */
147  printf("HAL_OK\n");
148  else
149  printf("HAL_ERROR\n");
150 #endif
151 /*
152  float32_t xyz[3]={10,20,30};
153  if(HAL_OK == motor_1.SynchronizedSetPosition(xyz))
154  printf("HAL_OK\n");
155  else
156  printf("HAL_ERROR\n");
157 
158  if(HAL_OK == motor_1.SynchronizedGetPosition(&xyz[0]))
159  printf("HAL_OK\n");
160  else
161  printf("HAL_ERROR\n");
162 
163  printf("position_x = %f\n", xyz[0]);
164  printf("position_y = %f\n", xyz[1]);
165  printf("position_z = %f\n", xyz[2]);
166 
167  if(HAL_OK == motor_1.ReInit())
168  printf("HAL_OK\n");
169  else
170  printf("HAL_ERROR\n");
171 
172  if(HAL_OK == motor_1.Finalize())
173  printf("HAL_OK\n");
174  else
175  printf("HAL_ERROR\n");
176 
177  if(HAL_OK == sensor_1.Init())
178  printf("HAL_OK\n");
179  else
180  printf("HAL_ERROR\n");
181 
182  if(HAL_OK == sensor_1.Start())
183  printf("HAL_OK\n");
184  else
185  printf("HAL_ERROR\n");
186 
187  float32_t value[3];
188  int32_t t;
189  if(HAL_OK == sensor_1.GetTimedValue(&value[0], &t))
190  printf("HAL_OK\n");
191  else
192  printf("HAL_ERROR\n");
193  printf("value[0]=%f, time=%d\n", value[0], t);
194 
195  if(HAL_OK == sensor_1.Stop())
196  printf("HAL_OK\n");
197  else
198  printf("HAL_ERROR\n");
199 
200  if(HAL_OK == sensor_1.Finalize())
201  printf("HAL_OK\n");
202  else
203  printf("HAL_ERROR\n");
204 */
205  exit(EXIT_SUCCESS);
206 }
void(* notify_error)(HALCOMPONENT_T *halComponent, int32_t error_id)
Definition: openEL.h:75
enum ReturnCode HalSetPosition(HALCOMPONENT_T *positionControlActuator, halfloat position)
Definition: openEL_motor.c:41
halfloat value
OpenEL Common Header File 3.0.0.
void motor_notify_timer(EVENTTIMER_T *eventTimer)
Definition: sample.c:43
enum ReturnCode HalTorqueSensorGetTimedValue(HALCOMPONENT_T *torqueSensor, halfloat *list, int32_t *timer)
Definition: openEL_sensor.c:46
float float32_t
Definition: openEL.h:50
enum ReturnCode HalTorqueSensorGetValue(HALCOMPONENT_T *torqueSensor, halfloat *list)
Definition: openEL_sensor.c:30
void motor_notify_error(HALCOMPONENT_T *halComponent, int32_t error_id)
Definition: sample.c:37
enum ReturnCode HalGetPosition(HALCOMPONENT_T *positionControlActuator, halfloat *position)
Definition: openEL_motor.c:69
enum ReturnCode HalInit(HALCOMPONENT_T *halComponent)
Definition: openEL.c:75
int main()
Definition: sample.c:48
enum ReturnCode HalFinalize(HALCOMPONENT_T *halComponent)
Definition: openEL.c:130
void(* notify_timer)(EVENTTIMER_T *eventTimer)
Definition: openEL.h:102
void motor_notify_event(HALCOMPONENT_T *halComponent, int32_t event_id)
Definition: sample.c:31
Definition: openEL.h:45
POSITIONCONTROLACTUATOR_T positionControlActuator
Definition: openEL.h:164
enum ReturnCode HalReInit(HALCOMPONENT_T *halComponent)
Definition: openEL.c:114
TORQUESENSOR_T torqueSensor
Definition: openEL.h:167
void(* notify_event)(HALCOMPONENT_T *halComponent, int32_t event_id)
Definition: openEL.h:74