go sqlit3使用一
package main
import (
"database/sql"
"fmt"
_ "/mattn/go-sqlite3"
)
var jointNames = []string{"boom_yaw", "boom_pitch", "boom_stretch", "feed_roll", "feed_pitch", "feed_yaw", "feed_stretch",
"vel_boom_yaw", "vel_boom_pitch", "vel_boom_stretch", "vel_feed_roll", "vel_feed_pitch", "vel_feed_yaw", "vel_feed_stretch"}
var ValveControl *valve
func main() {
A:=newValve()
fmt.Println(A)
}
func newValve() *valve {
ValveControl=&valve{
joints: make(map[string]*pid),
}
newPos()
return ValveControl
}
type valve struct {
joints map[string]*pid
}
func newPos() *map[string]*pid {
for _, name := range jointNames {
ValveControl.joints[name] = newPid()
pidParaDb(ValveControl.joints[name])
}
return &ValveControl.joints
}
type pid struct {
Kp float64
Ki float64
Kd float64
err float64
errLast float64
errMax float64
integral float64
setAngle float64
actualAngle float64
integralMax float64
integralMin float64
dMax float64
dMin float64
}
func newPid() *pid {
return &pid{
Kp: 0.1,
Ki: 0.2,
Kd: 0.3,
err: 0.0,
errLast: 0.0,
errMax: 0.0,
integral: 0.0,
setAngle: 0.0,
actualAngle: 0.0,
integralMax: 0.0,
integralMin: 0.0,
dMax: 0.0,
dMin: 0.0,
}
}
//PID参数数据库存储
func pidParaDb(pos *pid) {
//打开数据库，如果不存在，则创建
db, err := sql.Open("sqlite3", "./")
checkErr(err)
//创建表
sql_table := `
CREATE TABLE IF NOT EXISTS pid(
uid INTEGER PRIMARY KEY AUTOINCREMENT,
Kp DOUBLE NULL,
Ki DOUBLE NULL,
Kd DOUBLE NULL,
errMax DOUBLE NULL,
integralMax DOUBLE NULL,
uMax DOUBLE NULL,
uMin DOUBLE NULL
);
`
db.Exec(sql_table)
//执行Sql语句,插入数据
stmt, err := db.Prepare("INSERT INTO pid(Kp, Ki, Kd,errMax,integralMax,uMax,uMin) values(?,?,?,?,?,?,?)")
checkErr(err)
//res, err := (0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7)
res, err := stmt.Exec(pos.Kp, pos.Ki, pos.Kd, pos.errMax, pos.integralMax, pos.dMax, pos.dMin)
fmt.Println(res)
checkErr(err)
id, err := res.LastInsertId() //返回新增的id号
checkErr(err)
//更新数据,可以更新多个参数
fmt.Println("更新数据 ")
stmt, err = db.Prepare("update pid set Ki=?,Kd=? where uid=?")
checkErr(err)
res, err = stmt.Exec(0.03,0.11, id) //将新增的id的username修改为astaxieupdate
checkErr(err)
affect, err := res.RowsAffected()
checkErr(err)
fmt.Println(affect, "条数据被更新")
//查询sql语句,查询数据
rows, err := db.Query("SELECT * FROM pid")
checkErr(err)
var uid int
var Kp, Ki, Kd, errMax, integralMax, dMax, dMin float64
//删除数据；
//("删除数据,ID=")
//stmt, err = ("delete from userinfo where uid=?")
//checkErr(err)
//res, err = (1) //将想删除的id输入进去就可以删除输入的id
//checkErr(err)
//affect, err := () //几条数据受影响：返回int64类型数据
//checkErr(err)
//(uid)
//(affect, "条数据被删除")
for rows.Next() {
err = rows.Scan(&uid, &Kp, &Ki, &Kd, &errMax, &integralMax, &dMax, &dMin)
checkErr(err)
fmt.Println(uid, "：", Kp, Ki, Kd, errMax, integralMax, dMax, dMin)
}
rows.Close()
}
//异常处理
func checkErr(err error) {
if err != nil {
panic(err)
}
}