44 lines
1.6 KiB
C++
44 lines
1.6 KiB
C++
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/*
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* BinaryEncoderSync.cpp
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*
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* Created on: 1 февр. 2022 г.
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* Author: titov
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*/
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#include "BinaryEncoderSync.hh"
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#include "../../driver/BinaryEncoderSync.hh"
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bool application::board::BinaryEncoderSync::input( Environment & env ) {
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return grab( data_master, env.rholder.getShared<communication::ISubscriberRegistrator>( links.data_master ) );
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}
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void application::board::BinaryEncoderSync::build( Environment & env ) {
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Local<communication::ISubscriberRegistrator> local_data_master( data_master, *env.rholder.getShared<communication::ISubscriberRegistrator>( links.data_master ) );
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driver::detail::BinaryEncoderSync * encoder = memories::instance_object<driver::detail::BinaryEncoderSync>( env.static_object_ma,
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config.angle_bitoffset, config.agnle_bitsize,
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config.turn_bitoffset, config.turn_bitsize );
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local_data_master->addSubscriber(config.frame_bitoffset, config.frame_bitsize, encoder );
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systemic::ProcScheduler::ProcessParameter proc = {
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.priority = params.priority,
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.period = params.period, .phase = params.phase,
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.controlled = false
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};
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env.scheduler.registerProcess( params.processor_id, *encoder,
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proc );
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env.rholder.share<driver::IEncoder>( *encoder, links.encoder_sync );
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}
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application::board::BinaryEncoderSync::BinaryEncoderSync(
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const Links & links, const Setting & config,
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configuration::ProcessConfig & params ) : links(links), config(config), params(params) {}
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