def squareBlk(pout, Amp, Period, Width, Bias, Delay):
"""
Call: squareBlk(pout, Amp, Period, Width, Bias, Delay)
Parameters
----------
pout: connected output port(s)
Amp : Amplitude
Period : Period
Width : Width
Bias : Bias
Delay : Delay
Returns
-------
blk : RCPblk
"""
if (size(pout) != 1):
raise ValueError("Block should have 1 output port; received %i." %
size(pout))
blk = RCPblk('square', [], pout, [0, 0], 0,
[Amp, Period, Width, Bias, Delay], [])
return blk
def intgBlk(pin, pout, X0=0.0):
"""
Continous integral block
Call: intgBlk(pin,pout,X0)
Parameters
----------
pin: connected input port(s)
pout: connected output port(s)
X0 : Initial conditions
Returns
-------
blk : RCPblk
"""
nin = size(pin)
if (nin != 1):
raise ValueError("Block have 1 input: received %i input ports" % nin)
nout = size(pout)
if (nout != 1):
raise ValueError("Block have 1 output1: received %i output ports" %
nout)
blk = RCPblk('integral', pin, pout, [1, 0], 0, [0.0, X0], [])
return blk
def init_encBlk(pin, pout, trgtime, defv, offset):
"""
Call: init_encBlk(pin, pout, trgtime, defv, offset)
Parameters
----------
pin: connected input port(s)
pout: connected output port(s)
trgtime : Trigger Time
defv : Default Output
offset : Offset
Returns
-------
blk : RCPblk
"""
if (size(pout) != 1) or (size(pin) != 1):
raise ValueError(
"Block should have 1 input and 1 output port; received %i and %i."
% (size(pin), size(pout)))
blk = RCPblk('init_enc', pin, pout, [0, 0], 1,
[trgtime, defv, offset, 0.0], [])
return blk
def sumBlk(pin, pout, Gains):
"""
Call: sumBlk(pin, pout, Gains)
Parameters
----------
pin: connected input port(s)
pout: connected output port(s)
Gains : Gains
Returns
-------
blk : RCPblk
"""
if (size(pin) != size(Gains)):
raise ValueError("Number of inputs (%i) should match Gain Size (%i)" %
(size(pin), size(Gains)))
if (size(pout) != 1):
raise ValueError("Block should have 1 output port; received %i." %
size(pout))
blk = RCPblk('sum', pin, pout, [0, 0], 1, Gains, [])
return blk
def comediPWMBlk(pin, devicename, channel, prescaler, pfiout):
"""Create Comedi_PWM block
Comedi_PWM
Call: ComediPWMBlk(pin, devicename, channel, prescaler, pfiout)
Parameters
----------
pin : connected input port
devicename: Comedi device name /path
channel : Channel
prescaler: Clock Prescaler
pfiout: Output pin
Returns
-------
blk : RCPblk
"""
if size(pin) != 1:
raise ValueError("Block should have only 1 input port, receivesd %i" %
size(pin))
blk = RCPblk("comedi_pwm_generator", pin, [], [0, 0], 1, [],
[channel, prescaler, pfiout], devicename)
return blk
def baumer_EncBlk(pout, candev, ID, res, encres):
"""
Call: baumer_EncBlk(pout, ID, res, encres)
Parameters
----------
pout: connected output port(s)
ID : Device ID
res : Resolution
encres : Encoder reset
Returns
-------
blk : RCPblk
"""
if (size(pout) != 1):
raise ValueError("Block should have 1 output port; received %i." %
size(pout))
blk = RCPblk('baumer_enc', [], pout, [0, 0], 0, [4 * res], [ID, encres],
candev)
return blk
def stm32DIBlk(pout, port, ch):
"""
Call: stm32DIBlk(pout, port, ch)
Parameters
----------
pout: connected output port(s)
port : Port
ch : Channel
Returns
-------
blk: RCPblk
"""
p = port[-1]
p = p.upper()
pn = ord(p) - ord('A')
if pn < 0 or pn > 6:
raise ValueError("Port should be between PORTA and PORTG not %s",
(port))
if ch < 0 or ch > 15:
raise ValueError("Channel should be between 0 and 15 not %i", (ch))
blk = RCPblk('stm32DI', [], pout, [0, 0], 0, [], [pn, ch])
return blk
def zdelayBlk(pin, pout, X0=0.0):
"""
Call: zdelayBlk(pin, pout, X0=0.0)
Parameters
----------
pin: connected input port(s)
pout: connected output port(s)
X0: Initial conditions
Returns
-------
blk : RCPblk
"""
nin = size(pin)
if (nin != 1):
raise ValueError("Block have 1 input: received %i input ports" % nin)
nout = size(pout)
if (nout != 1):
raise ValueError("Block have 1 output1: received %i output ports" %
nout)
blk = RCPblk('unitDelay', pin, pout, [0, 1], 0, [X0], [])
return blk
def saturBlk(pin, pout, satP, satN):
"""
Call: saturBlk(pin, pout, satP, satN)
Parameters
----------
pin: connected input port(s)
pout: connected output port(s)
satP : Upper saturation
satN : Lower saturation
Returns
-------
blk : RCPblk
"""
if (size(pin) != 1):
raise ValueError("Block should have 1 input port; received %i." %
size(pin))
if (size(pout) != 1):
raise ValueError("Block should have 1 output port; received %i." %
size(pout))
blk = RCPblk('saturation', pin, pout, [0, 0], 1, [satP, satN], [])
return blk
def USB_OTG_InBlk(pout, defvals):
"""
Call: USB_OTG_InBlk(pout)
Parameters
----------
pout: connected output port(s)
Returns
-------
blk: RCPblk
"""
outputs = len(pout)
vals = zeros(outputs, float)
if len(defvals) > outputs:
N = outputs
else:
N = len(defvals)
for n in range(N):
vals[n] = defvals[n]
blk = RCPblk('USB_OTG_In', [], pout, [0, 0], 0, vals, [])
return blk
def maxon_MotBlk(pin, candev, ID, propGain, intGain):
"""
Maxon driver for torque control
Call: maxon_MotBlk(pin, ID)
Parameters
----------
pin: connected input port(s)
ID : Device ID
propGain : Prop. gain
intGain : Integ. gain
Returns
-------
blk : RCPblk
"""
if (size(pin) != 1):
raise ValueError("Block should have 1 input port; received %i." %
size(pout))
blk = RCPblk('maxon_mot', pin, [], [0, 0], 1, [propGain, intGain], [ID],
candev)
return blk
def brikiESCBlk(pin, ch, umin, umax):
"""
Call: brikiESCBlk(pin, ch, umin, umax)
Parameters
----------
pin: connected input port(s)
ch : Pin
umin : Umin [V]
umax : Umax [V]
Returns
-------
blk: RCPblk
"""
PWMlist = [11, 13, 21, 22, 23, 24, 25]
if ch not in PWMlist:
raise ValueError(
"You pass a channel which is not in the ABC Board PIN list: %i" %
(ch))
blk = RCPblk('brikiESC', pin, [], [0, 0], 1, [umin, umax], [ch])
return blk
def cssBlk(pin, pout, sys, X0=[]):
"""
Continous state space block
Call: cssBlk(pin,pout, sys,X0)
Parameters
----------
pin : connected input ports
pout: connected output ports
sys: Discrete system in SS form
X0: Initial conditions
Returns
-------
blk : RCPblk
"""
if isinstance(sys, TransferFunction):
sys = tf2ss(sys)
nin = size(pin)
ni = shape(sys.B)[1]
if (nin != ni):
raise ValueError("Block Robi have %i inputs: received %i input ports" %
(nin, ni))
no = shape(sys.C)[0]
nout = size(pout)
if (no != nout):
raise ValueError("Block have %i outputs: received %i output ports" %
(nout, no))
a = reshape(sys.A, (1, size(sys.A)), 'C')
b = reshape(sys.B, (1, size(sys.B)), 'C')
c = reshape(sys.C, (1, size(sys.C)), 'C')
d = reshape(sys.D, (1, size(sys.D)), 'C')
nx = shape(sys.A)[0]
if (size(X0) == nx):
X0 = reshape(X0, (1, size(X0)), 'C')
else:
X0 = mat(zeros((1, nx)))
indA = 1
indB = indA + nx * nx
indC = indB + nx * ni
indD = indC + nx * no
indX = indD + ni * no
intPar = [nx, ni, no, indA, indB, indC, indD, indX]
realPar = hstack((mat([0.0]), a, b, c, d, X0))
if d.any() == True:
uy = 1
else:
uy = 0
blk = RCPblk('css', pin, pout, [nx, 0], uy, realPar, intPar)
return blk
def brikiDCMotBlk(pin, enCh, in1Ch, in2Ch):
"""
Call: brikiDCMotBlk(pin, enCh, in1Ch, in2Ch)
Parameters
----------
pin: connected input port(s)
enCh : Enable Pin
in1Ch : In1 Pin
in2Ch : In2 Pin
Returns
-------
blk: RCPblk
"""
CHlist = [11, 13, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31]
if enCh not in CHlist:
raise ValueError("You pass a channel which is not in the ABC Board PIN list: %i" % (enCh))
if in1Ch not in CHlist:
raise ValueError("You pass a channel which is not in the ABC Board PIN list: %i" % (in1Ch))
if in2Ch not in CHlist:
raise ValueError("You pass a channel which is not in the ABC Board PIN list: %i" % (in2Ch))
blk = RCPblk('brikiDCMot', pin, [], [0,0], 1, [], [enCh, in1Ch, in2Ch])
return blk
def sineBlk(pout, Amp, Freq, Phase, Bias, Delay):
"""
Call: sineBlk(pout, Amp, Freq, Phase, Bias, Delay)
Parameters
----------
pout: connected output port(s)
Amp : Amplitude
Freq : Freq
Phase : Phase
Bias : Bias
Delay : Delay
Returns
-------
blk : RCPblk
"""
if (size(pout) != 1):
raise ValueError("Block should have 1 output port; received %i." %
size(pout))
blk = RCPblk('sinus', [], pout, [0, 0], 0, [Amp, Freq, Phase, Bias, Delay],
[])
return blk
def unixsocketSBlk(pout, sockname, defvals):
"""
Call: unixsocketSBlk(pout, sockname, defvals)
Parameters
----------
pout: connected output port(s)
sockname : Socket
defvals : Default outputs
Returns
-------
blk : RCPblk
"""
outputs = len(pout)
vals = zeros(outputs, float)
if len(defvals) > outputs:
N = outputs
else:
N = len(defvals)
for n in range(N):
vals[n] = defvals[n]
blk = RCPblk('unixsockS', [], pout, [0, 0], 0, vals, [0, 0],
'/tmp/' + sockname)
return blk
def lutBlk(pin, pout, coeff):
"""
Call: lutBlk(pin, pout, coeff)
Parameters
----------
pin: connected input port(s)
pout: connected output port(s)
coeff : Coeff
Returns
-------
blk : RCPblk
"""
if(size(pin) != 1):
raise ValueError("Block should 1 input port; received %i." % size(pin))
if(size(pout) != 1):
raise ValueError("Block should have 1 output port; received %i." % size(pout))
blk = RCPblk('lut',pin,pout,[0,0],1,[coeff],[size(coeff)])
return blk
def stm32DOBlk(pin, port, ch, Th):
"""
Call: stm32_OBlk(pin, port, ch, Th)
Parameters
----------
pin: connected input port(s)
port : Port
ch : Channel [0-15]
Th : Threshold
Returns
-------
blk: RCPblk
"""
p = port[-1]
p = p.upper()
pn = ord(p) - ord('A')
if pn < 0 or pn > 6:
raise ValueError("Port should be between PORTA and PORTG not %s",
(port))
if ch < 0 or ch > 15:
raise ValueError("Channel should be between 0 and 15 not %i", (ch))
blk = RCPblk('stm32DO', pin, [], [0, 0], 0, [Th], [pn, ch])
return blk
def switchBlk(pin, pout, cond, val, pers):
"""
Call: switchBlk(pin, pout, cond, val, pers)
Parameters
----------
pin: connected input ports (3)
pout: connected output port
cond: 0 >, 1 <
val: value to compare
pers: switch can change again (0) or is fixed (1)
Output switches from input 1 to input 2 if the condition is reached
(input 3 > or <) than val;
If pers is 1 the system doesn't switch back again if the condition is
no more satisfied
Returns
-------
blk : RCPblk
"""
if (size(pin) != 3):
raise ValueError("Block should have 3 input ports; received %i." %
size(pin))
if (size(pout) != 1):
raise ValueError("Block should have 1 output port; received %i." %
size(pout))
blk = RCPblk('switcher', pin, pout, [0, 0], 1, [val], [cond, pers])
return blk
def scopeStream(pin, decim=1):
"""Create an interactive scope."""
decim = int(decim)
blk = RCPblk("scope", pin, [], [0, 0], 1, [], [decim, 0])
return blk
def epos_MotXBlk(pin, candev, ID):
"""
Call: epos_MotXBlk(pin, ID)
Parameters
----------
pin: connected input port(s)
ID : Device ID
propGain : Prop. gain
intGain : Integ. gain
derGain : Deriv. gain
Vff : Vel. FeedForw
Aff : Acc. Feed Forw.
Returns
-------
blk : RCPblk
"""
if (size(pin) != 1):
raise ValueError("Block should have 1 input port; received %i." %
size(pout))
blk = RCPblk('epos_canopen_motX', pin, [], [0, 0], 1, [], [ID], candev)
return blk
def matmultBlk(pin, pout, Gains):
"""
Matrix multiplication of the input signals
Call: matmultBlk(pin,pout, Gains)
Parameters
----------
pin: connected input port(s)
pout: connected output port(s)
Gains : Gains
Returns
-------
blk : RCPblk
"""
Gains = mat(Gains)
n, m = shape(Gains)
if (size(pin) != m):
raise ValueError("Block should have %i input port; received %i." %
(m, size(pin)))
if (size(pout) != n):
raise ValueError("Block should have %i output port; received %i." %
(n, size(pout)))
realPar = reshape(Gains, (1, size(Gains)), 'C')
blk = RCPblk('mxmult', pin, pout, [0, 0], 1, realPar, [n, m])
return blk
def brikiDOBlk(pin, ch, thr):
"""
Call: brikiDOBlk(pin, ch, thr)
Parameters
----------
pin: connected input port(s)
ch : Channel
thr : Threshold
Returns
-------
blk: RCPblk
"""
DOlist = [9, 11, 13, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31]
if ch not in DOlist:
raise ValueError(
"You pass a channel which is not in the ABC Board PIN list: %i" %
(ch))
blk = RCPblk('brikiDO', pin, [], [0, 0], 1, [thr], [ch])
return blk
def brikiDIBlk(pout, ch):
"""
Call: brikiDIBlk(pout, ch)
Parameters
----------
pout: connected output port(s)
ch : Channel
Returns
-------
blk: RCPblk
"""
DIlist = [11, 13, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31]
if ch not in DIlist:
raise ValueError(
"You pass a channel which is not in the ABC Board PIN list: %i" %
(ch))
blk = RCPblk('brikiDI', [], pout, [0, 0], 0, [], [ch])
return blk
def trigBlk(pin, pout, tp):
"""
Call: trigBlk(pin, pout, tp)
Parameters
----------
pin: connected input port(s)
pout: connected output port(s)
tp : sin->1 cos->2 tan->3
Returns
-------
blk : RCPblk
"""
nin = size(pin)
if (nin != 1):
raise ValueError("Block have 1 input: received %i input ports" % nin)
nout = size(pout)
if (nout != 1):
raise ValueError("Block have 1 output1: received %i output ports" %
nout)
blk = RCPblk('trigo', pin, pout, [0, 0], 1, [], [tp])
return blk
def stm32DCMotBlk(pin, pwmCh, dir1Port, dir1Ch, dir2Port, dir2Ch, umin, umax):
"""
Call: stm32DCMotBlk(pin, pwmCh, dir1Port, dir1Ch, dir2Port, dir2Ch, umin, umax)
Parameters
----------
pin: connected input port(s)
pwmCh : PWM CHannel
dir1Port : Direction 1 Port
dir1Ch : Direction 1 Channel
dir2Port : Direction 2 Port
dir2Ch : Direction 2 Channel
umin : Umin
umax : Umax
Returns
-------
blk: RCPblk
"""
p1 = dir1Port[-1]
p1 = p1.upper()
pn1 = ord(p1) - ord('A')
p2 = dir2Port[-1]
p2 = p2.upper()
pn2 = ord(p2) - ord('A')
if pn1 < 0 or pn1 > 6:
raise ValueError("Port should be between PORTA and PORTG not %s",
(dir1Port))
if dir1Ch < 0 or dir1Ch > 15:
raise ValueError("Channel should be between 0 and 15 not %i", (dir1Ch))
if pn2 < 0 or pn2 > 6:
raise ValueError("Port should be between PORTA and PORTG not %s",
(dir2Port))
if dir2Ch < 0 or dir2Ch > 15:
raise ValueError("Channel should be between 0 and 15 not %i", (dir2Ch))
if pwmCh < 1 or pwmCh > 4:
raise ValueError("Channel should have value 1 2 3 or 4 not %d" %
pwmCh)
blk = RCPblk('stm32DCMot', pin, [], [0, 0], 1, [umin, umax],
[pwmCh, pn1, dir1Ch, pn2, dir2Ch])
return blk
def FmuBlk(*args):
if len(args) == 8:
pin, pout, IN_ref, OUT_ref, file, ts, dt, ft = args
elif len(args) == 7:
pout, IN_ref, OUT_ref, file, ts, dt, ft = args
pin = []
else:
raise ValueError("Not enough arguments received!")
if np.size(pin) != np.size(IN_ref):
raise ValueError("Input references not correct; received %i." %
np.size(IN_ref))
if np.size(pout) != np.size(OUT_ref):
raise ValueError("Input references not correct; received %i." %
np.size(OUT_ref))
intPar = np.zeros(2 + np.size(pin) + np.size(pout), dtype=np.int16)
intPar[0] = np.size(pin)
intPar[1] = np.size(pout)
spl_name = file.split('.')
name = '/tmp/' + spl_name[0]
cmd = 'unzip -o -d ' + name + ' ' + file + ' >/dev/null'
system(cmd)
pos = 0
for ref in IN_ref:
ind = getXMLindex(name, ref)
if ind == -1:
raise ValueError('Reference value not found!')
else:
intPar[pos + 2] = ind
pos += 1
for ref in OUT_ref:
ind = getXMLindex(name, ref)
if ind == -1:
raise ValueError('Reference value not found!')
else:
intPar[pos + 2] = ind
pos += 1
system('rm -fr ' + name)
blk = RCPblk('FMUinterface', pin, pout, [0, 0], ft, [ts, dt], intPar, file)
return blk
def stm32Ads1018Blk(pout, port, pin, channel, rng, single):
"""
Call: stm32Ads1018Blk(pout, port, pin, channel)
Parameters
----------
pout: connected output port(s)
port : CS Port
pin : CS PIN
channel : Channel
Returns
-------
blk: RCPblk
"""
if port == 'NSS':
pn = -1
pin = 0
else:
p = port[-1]
p = p.upper()
pn = ord(p) - ord('A')
if pn < 0 or pn > 6:
raise ValueError("Port should be between PORTA and PORTG not %s",
(port))
if pin < 0 or pin > 15:
raise ValueError("PIN should be between 0 and 15 not %i", (pin))
if channel < 0 or channel > 3:
raise ValueError("PIN should be between 0 and 3 not %i", (channel))
if rng < 2 or rng > 7:
raise ValueError("Voltage range should be between 2 and 7 not %i",
(rng))
if single > 0:
single = 1
else:
single = 0
blk = RCPblk('stm32Ads1018', [], pout, [0, 0], 0, [0],
[pn, pin, channel, rng, single])
return blk
def plotBlk(pin, fname):
"""
Call: plotBlk(pin)
Parameters
----------
pin: connected input port(s)
Returns
-------
blk : RCPblk
"""
blk = RCPblk('plot',pin,[],[0,0],1,[],[], fname)
return blk
def brikiLuxBlk(pout):
"""
Call: brikiLuxBlk(pout)
Parameters
----------
pout: connected output port(s)
Returns
-------
blk: RCPblk
"""
blk = RCPblk('brikiLux', [], pout, [0, 0], 0, [], [])
return blk
