From 8a08b9dce9cfc161494ddb07a1c979c7796780ff Mon Sep 17 00:00:00 2001 From: Sebastian Reichel Date: Fri, 15 Jun 2012 22:56:00 +0200 Subject: restructure code it is now loading its components from plugins --- ctrl/models/Makefile | 14 +++++++++ ctrl/models/hexa.vala | 64 --------------------------------------- ctrl/models/hexacopter.vala | 73 +++++++++++++++++++++++++++++++++++++++++++++ 3 files changed, 87 insertions(+), 64 deletions(-) create mode 100644 ctrl/models/Makefile delete mode 100644 ctrl/models/hexa.vala create mode 100644 ctrl/models/hexacopter.vala (limited to 'ctrl/models') diff --git a/ctrl/models/Makefile b/ctrl/models/Makefile new file mode 100644 index 0000000..113d1be --- /dev/null +++ b/ctrl/models/Makefile @@ -0,0 +1,14 @@ +include ../../config.mk + +all: Hexacopter.so + +clean: + rm -f *.c *.so + +hexacopter.c: hexacopter.vala + $(VALAC) --pkg gmodule-2.0 --pkg posix --pkg linux -C $< ../copter-model.vala + +Hexacopter.so: hexacopter.c + $(CC) -shared -fPIC `pkg-config --cflags --libs glib-2.0 gobject-2.0 gmodule-2.0` -o $@ $< + +.PHONY: all clean diff --git a/ctrl/models/hexa.vala b/ctrl/models/hexa.vala deleted file mode 100644 index 176d3d6..0000000 --- a/ctrl/models/hexa.vala +++ /dev/null @@ -1,64 +0,0 @@ -/* Copyright 2012, Sebastian Reichel - * - * Permission to use, copy, modify, and/or distribute this software for any - * purpose with or without fee is hereby granted, provided that the above - * copyright notice and this permission notice appear in all copies. - * - * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES - * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF - * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR - * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES - * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN - * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF - * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE. - */ - -public class Hexacopter : CopterModel { - int[] min = new int[6]; - int[] max = new int[6]; - int[] cmd = new int[6]; - - const int YAW_DIRECTION = 1; - - private enum Position { - FRONT, - FRONT_RIGHT, - REAR_RIGHT, - REAR, - REAR_LEFT, - FRONT_LEFT, - } - - public override uint8 get_motor_amount() { - return 6; - } - - public override void set_max(uint8 motor, int val) { - max[motor] = val; - } - - public override int get_max(uint8 motor) { - return max[motor]; - } - - public override void set_min(uint8 motor, int val) { - min[motor] = val; - } - - public override int get_min(uint8 motor) { - return min[motor]; - } - - public override int[] get_motor_data(int throttle, int motorAxisCommandYaw, int motorAxisCommandRoll, int motorAxisCommandPitch) { - int throttleCorrection = (motorAxisCommandYaw*3/6).abs(); - - cmd[Position.FRONT] = (throttle - throttleCorrection) + motorAxisCommandRoll/2 - motorAxisCommandPitch/2 - (YAW_DIRECTION * motorAxisCommandYaw); - cmd[Position.FRONT_RIGHT] = (throttle - throttleCorrection) - motorAxisCommandRoll/2 + motorAxisCommandPitch/2 + (YAW_DIRECTION * motorAxisCommandYaw); - cmd[Position.REAR_RIGHT] = (throttle - throttleCorrection) - motorAxisCommandRoll/2 - motorAxisCommandPitch/2 - (YAW_DIRECTION * motorAxisCommandYaw); - cmd[Position.REAR] = (throttle - throttleCorrection) + motorAxisCommandRoll/2 + motorAxisCommandPitch/2 + (YAW_DIRECTION * motorAxisCommandYaw); - cmd[Position.REAR_LEFT] = (throttle - throttleCorrection) - motorAxisCommandPitch + (YAW_DIRECTION * motorAxisCommandYaw); - cmd[Position.FRONT_LEFT] = (throttle - throttleCorrection) + motorAxisCommandPitch - (YAW_DIRECTION * motorAxisCommandYaw); - - return cmd; - } -} diff --git a/ctrl/models/hexacopter.vala b/ctrl/models/hexacopter.vala new file mode 100644 index 0000000..9462bc8 --- /dev/null +++ b/ctrl/models/hexacopter.vala @@ -0,0 +1,73 @@ +/* Copyright 2012, Sebastian Reichel + * + * Permission to use, copy, modify, and/or distribute this software for any + * purpose with or without fee is hereby granted, provided that the above + * copyright notice and this permission notice appear in all copies. + * + * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES + * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR + * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES + * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN + * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF + * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE. + */ + +public class Hexacopter : CopterModel { + int[] min = new int[6]; + int[] max = new int[6]; + int[] cmd = new int[6]; + + const int YAW_DIRECTION = 1; + + private enum Position { + FRONT, + FRONT_RIGHT, + REAR_RIGHT, + REAR, + REAR_LEFT, + FRONT_LEFT, + } + + public override void init(KeyFile cfg) throws Error { + /* No Config */ + } + + public override uint8 get_motor_amount() { + return 6; + } + + public override void set_max(uint8 motor, int val) { + max[motor] = val; + } + + public override int get_max(uint8 motor) { + return max[motor]; + } + + public override void set_min(uint8 motor, int val) { + min[motor] = val; + } + + public override int get_min(uint8 motor) { + return min[motor]; + } + + public override int[] get_motor_data(int throttle, int motorAxisCommandYaw, int motorAxisCommandRoll, int motorAxisCommandPitch) { + int throttleCorrection = (motorAxisCommandYaw*3/6).abs(); + + cmd[Position.FRONT] = (throttle - throttleCorrection) + motorAxisCommandRoll/2 - motorAxisCommandPitch/2 - (YAW_DIRECTION * motorAxisCommandYaw); + cmd[Position.FRONT_RIGHT] = (throttle - throttleCorrection) - motorAxisCommandRoll/2 + motorAxisCommandPitch/2 + (YAW_DIRECTION * motorAxisCommandYaw); + cmd[Position.REAR_RIGHT] = (throttle - throttleCorrection) - motorAxisCommandRoll/2 - motorAxisCommandPitch/2 - (YAW_DIRECTION * motorAxisCommandYaw); + cmd[Position.REAR] = (throttle - throttleCorrection) + motorAxisCommandRoll/2 + motorAxisCommandPitch/2 + (YAW_DIRECTION * motorAxisCommandYaw); + cmd[Position.REAR_LEFT] = (throttle - throttleCorrection) - motorAxisCommandPitch + (YAW_DIRECTION * motorAxisCommandYaw); + cmd[Position.FRONT_LEFT] = (throttle - throttleCorrection) + motorAxisCommandPitch - (YAW_DIRECTION * motorAxisCommandYaw); + + return cmd; + } +} + +public Type register_plugin (Module module) { + // types are registered automatically + return typeof(Hexacopter); +} -- cgit v1.2.3