demoApp2.cc

#include <ApplicationCore.h>
#include <PeriodicTrigger.h>

namespace ctk = ChimeraTK;

struct Controller : public ctk::ApplicationModule {
    using ctk::ApplicationModule::ApplicationModule;
    ctk::ScalarPollInput<double> sp{this, "temperatureSetpoint", "degC", "Description", {"CS"}};
    ctk::ScalarPushInput<double> rb{this, "temperatureReadback", "degC", "...", {"DEV", "CS"}};
    ctk::ScalarOutput<double> cur{this, "heatingCurrent", "mA", "...", {"DEV"}};

    void mainLoop() {
      const double gain = 100.0;
      while(true) {
        readAll();     // waits until rb updated, then reads sp

        cur = gain * (sp - rb);
        writeAll();    // writes any outputs
      }
    }
};


struct ExampleApp : public ctk::Application {
    ExampleApp() : Application("exampleApp") {}
    ~ExampleApp() { shutdown(); }

    Controller controller{this, "Controller", "The Controller"};

    ctk::PeriodicTrigger timer{this, "Timer", "Periodic timer for the controller", 1000};

    ctk::DeviceModule heater{"oven","heater"};
    ctk::ControlSystemModule cs{"Bakery"};

    void defineConnections();
};
static ExampleApp theExampleApp;


void ExampleApp::defineConnections() {
    ChimeraTK::setDMapFilePath("example2.dmap");

    controller.findTag("DEV").connectTo(heater, timer.tick);
    controller.findTag("CS").connectTo(cs);
}