public ActuatorBase(string name, ActuatorConfig config, IActuatorState initialState = null)
{
Config = new ActuatorConfig(config);
initialState = initialState ?? Config.GetDefaultInitialActuatorState();
slewRateLimitTool = new SlewRateLimitTool(minValue: 0.0, maxValue: 100.0, initialValue: initialState.PositionInPercent, initialTarget: initialState.TargetPositionInPercent, maxRatePerSec: 0.0);
UpdateMotionRates();
privateState = new ActuatorState(initialState);
logger = new Logging.Logger(name, Logging.LogGate.All);
if (config.InitialPos.IsTargetPositionValid(allowInBetween: true))
{
privateState.TargetPos = privateState.PosState = config.InitialPos;
privateState.TargetPositionInPercent = privateState.PositionInPercent = GetTargetPositionInPercent(config.InitialPos, mapInBetweenToHalfWay: true);
privateState.TargetPosStr = privateState.PosStateStr = config.ToString(config.InitialPos);
}
logger.Debug.Emit("Initial state is:{0} [{1} {2:f0}%]", privateState.PosStateStr, privateState.PosState, privateState.PositionInPercent);
PublishState();
}
public ActuatorConfig(ActuatorConfig other)
{
Pos1Name = other.Pos1Name;
Pos2Name = other.Pos2Name;
Motion1To2Time = other.Motion1To2Time;
Motion2To1Time = other.Motion2To1Time;
InitialPos = other.InitialPos;
}
public ActuatorBase(ActuatorConfig config, ActuatorState state)
{
Config = config;
PrivateState = state;
logger = new Logging.Logger(config.Name, Logging.LogGate.All);
PrivateState.TargetPos = PrivateState.PosState = config.InitialPos;
PrivateState.TargetPosStr = PrivateState.PosStateStr = config.ToString(config.InitialPos);
PrivateState.TimeStamp = QpcTimeStamp.Now;
logger.Info.Emit("Initial state is:{0} [{1}]", PrivateState.PosStateStr, PrivateState.PosState);
PublishState();
}
public ActuatorPlugin(string name, ActuatorConfig config, IActuatorState initialState = null)
: base(name, config, initialState)
{
}
public ActuatorConfig(ActuatorConfig rhs)
{
Name = rhs.Name;
Pos1Name = rhs.Pos1Name;
Pos2Name = rhs.Pos2Name;
Motion1To2Time = rhs.Motion1To2Time;
Motion2To1Time = rhs.Motion2To1Time;
InitialPos = rhs.InitialPos;
}
