getting_started:tutorials:hal0
Differences
This shows you the differences between two versions of the page.
Both sides previous revisionPrevious revisionNext revision | Previous revision | ||
getting_started:tutorials:hal0 [2017/05/08 13:26] – graf | getting_started:tutorials:hal0 [2024/12/01 12:01] (current) – [Accessing Output Signals Directly] ursgraf | ||
---|---|---|---|
Line 1: | Line 1: | ||
====== Using the HAL with the Simulator ====== | ====== Using the HAL with the Simulator ====== | ||
- | In the EEROS library you will find a directory with examples. Open a shell in the build directory of your EEROS library and run '' | + | The [[eeros_architecture: |
+ | |||
+ | In the EEROS library you will find a directory with examples. | ||
+ | |||
+ | Open a shell in the build directory of your EEROS library and run | ||
< | < | ||
$ ./halTest1 -c HalTest1Config.json | $ ./halTest1 -c HalTest1Config.json | ||
</ | </ | ||
This examples creates a small control system with a couple of peripheral input and output blocks as shown below. | This examples creates a small control system with a couple of peripheral input and output blocks as shown below. | ||
- | [{{ : | + | [{{ : |
The dashed lines denote the feedback of the signals by the simulator. \\ | The dashed lines denote the feedback of the signals by the simulator. \\ | ||
The main sequence alters the values on digital and analog outputs periodically. A separate periodic task logs the digital and analog inputs. | The main sequence alters the values on digital and analog outputs periodically. A separate periodic task logs the digital and analog inputs. | ||
* The state on the digital output 0 is reflected by the simultor to the digital input 0. The control system connects this input to the digital output 1, which in turn is reflected by the simulator to digital input 1. However, the second reflection is '' | * The state on the digital output 0 is reflected by the simultor to the digital input 0. The control system connects this input to the digital output 1, which in turn is reflected by the simulator to digital input 1. However, the second reflection is '' | ||
- | * A constant value is output to analog output 0 and 2. These values change every 10 seconds. Both are reflected onto analog inputs 0 and 2. | + | * A constant value is output to analog output 0 and 2. These values change every 10 seconds. Both are reflected onto analog inputs 0 and 2, respectively. |
+ | ===== Accessing Output Signals Directly ===== | ||
+ | A peripheral output block delivers a signal to external hardware. Its signal value can be accessed with a get method, see line 41 in the comment in the example code in [[https:// | ||
+ | |||
+ | Alternatively the signal in the HAL could be accessed by getting an reference to the corresponding output block with | ||
+ | <code cpp> | ||
+ | auto digOut = hal.getLogicOutput(" | ||
+ | </ | ||
+ | The signal value can then be logged with | ||
+ | block with | ||
+ | <code cpp> | ||
+ | log.info() << digOut-> | ||
+ | </ | ||
+ | You have to make sure to access the output with non-exclusive rights, because the control system already has a handle to it, see line 25 in '' |
getting_started/tutorials/hal0.1494242799.txt.gz · Last modified: 2017/05/08 13:26 (external edit)