arci/clients/
dummy_motor_drive.rs

1use std::sync::Mutex;
2
3use crate::{
4    error::Error,
5    traits::{MotorDriveEffort, MotorDrivePosition, MotorDriveVelocity},
6};
7
8#[derive(Debug)]
9pub struct DummyMotorDrivePosition {
10    pub current_position: Mutex<f64>,
11}
12
13impl DummyMotorDrivePosition {
14    pub fn new() -> Self {
15        Self {
16            current_position: Mutex::new(0f64),
17        }
18    }
19}
20
21impl Default for DummyMotorDrivePosition {
22    fn default() -> Self {
23        Self::new()
24    }
25}
26
27impl MotorDrivePosition for DummyMotorDrivePosition {
28    fn set_motor_position(&self, position: f64) -> Result<(), Error> {
29        *self.current_position.lock().unwrap() = position;
30        Ok(())
31    }
32
33    fn get_motor_position(&self) -> Result<f64, Error> {
34        Ok(*self.current_position.lock().unwrap())
35    }
36}
37
38#[derive(Debug)]
39pub struct DummyMotorDriveVelocity {
40    pub current_velocity: Mutex<f64>,
41}
42
43impl DummyMotorDriveVelocity {
44    pub fn new() -> Self {
45        Self {
46            current_velocity: Mutex::new(0f64),
47        }
48    }
49}
50
51impl Default for DummyMotorDriveVelocity {
52    fn default() -> Self {
53        Self::new()
54    }
55}
56
57impl MotorDriveVelocity for DummyMotorDriveVelocity {
58    fn set_motor_velocity(&self, velocity: f64) -> Result<(), Error> {
59        *self.current_velocity.lock().unwrap() = velocity;
60        Ok(())
61    }
62
63    fn get_motor_velocity(&self) -> Result<f64, Error> {
64        Ok(*self.current_velocity.lock().unwrap())
65    }
66}
67
68#[derive(Debug)]
69pub struct DummyMotorDriveEffort {
70    pub current_effort: Mutex<f64>,
71}
72
73impl DummyMotorDriveEffort {
74    pub fn new() -> Self {
75        Self {
76            current_effort: Mutex::new(0f64),
77        }
78    }
79}
80
81impl Default for DummyMotorDriveEffort {
82    fn default() -> Self {
83        Self::new()
84    }
85}
86
87impl MotorDriveEffort for DummyMotorDriveEffort {
88    fn set_motor_effort(&self, effort: f64) -> Result<(), Error> {
89        *self.current_effort.lock().unwrap() = effort;
90        Ok(())
91    }
92
93    fn get_motor_effort(&self) -> Result<f64, Error> {
94        Ok(*self.current_effort.lock().unwrap())
95    }
96}
arci/clients/dummy_motor_drive.rs

arci/clients/
dummy_motor_drive.rs
