62 lines
1.8 KiB
C++
62 lines
1.8 KiB
C++
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/*
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* AddPwmOverrideTermination.h
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*
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* Created on: 8 окт. 2019 г.
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* Author: titov
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*/
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#ifndef SOURCE_APPLICATION_SAFETY_ADDPWMOVERRIDETERMINATION_H_
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#define SOURCE_APPLICATION_SAFETY_ADDPWMOVERRIDETERMINATION_H_
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#include "../ISetupStep.hh"
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#include "../../driver/safety/FailureTermination.hh"
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#include "../../peripheral/IPwmOverride.hh"
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namespace application { namespace safety {
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//!Добавить выход ШИМ для перезаписи.
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struct AddPwmOverrideTermination : public ISetupStep {
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typedef driver::safety::FailureTermination FT;
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FT * terminator = nullptr;
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peripheral::IPwmOverride * pwm_override = nullptr;
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struct Links {
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Environment::Id failure_term_id; //!<Идентификатор прерывателя работы по отказу.
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Environment::Id pwm_override_id; //!<Канал шим, который необходимо перезаписать при отказе.
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};
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bool input( Environment & env );
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void build( Environment & env );
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const Links & links;
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AddPwmOverrideTermination( const Links & links ) : links(links) {}
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};
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}
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}
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inline bool application::safety::AddPwmOverrideTermination::input(
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Environment & env ) {
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return grab( terminator, env.rholder.getShared<FT>(links.failure_term_id) )
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and grab( pwm_override, env.rholder.getShared<peripheral::IPwmOverride>(links.pwm_override_id) );
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}
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inline void application::safety::AddPwmOverrideTermination::build(
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Environment & env ) {
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Local<FT> term( terminator, *env.rholder.getShared<FT>(links.failure_term_id) );
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Local<peripheral::IPwmOverride> pwm( pwm_override, *env.rholder.getShared<peripheral::IPwmOverride>(links.pwm_override_id) );
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term->addTerminate( pwm_override );
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}
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#endif /* SOURCE_APPLICATION_SAFETY_ADDPWMOVERRIDETERMINATION_H_ */
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