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 virtual bool Equals(IActuatorState other)
{
return(other != null &&
TargetPos == other.TargetPos &&
TargetPosStr == other.TargetPosStr &&
TargetPositionInPercent == other.TargetPositionInPercent &&
PosState == other.PosState &&
PosStateStr == other.PosStateStr &&
PositionInPercent == other.PositionInPercent
);
}
public ActuatorState SetFrom(IActuatorState other)
{
if (other != null)
{
TargetPos = other.TargetPos;
TargetPosStr = other.TargetPosStr;
TargetPositionInPercent = other.TargetPositionInPercent;
PosState = other.PosState;
PosStateStr = other.PosStateStr;
PositionInPercent = other.PositionInPercent;
}
else
{
TargetPos = ActuatorPosition.None;
TargetPosStr = TargetPos.ToString();
TargetPositionInPercent = 0.0;
PosState = ActuatorPosition.Undefined;
PosStateStr = TargetPos.ToString();
PositionInPercent = 0.0;
}
return(this);
}
public ActuatorPlugin(string name, ActuatorConfig config, IActuatorState initialState = null)
: base(name, config, initialState)
{
}
public ActuatorState(IActuatorState other)
{
SetFrom(other);
}
