source: flair-dev/trunk/include/FlairSensorActuator/SimuCamera.h @ 50

Last change on this file since 50 was 50, checked in by Sanahuja Guillaume, 4 years ago

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1// %flair:license{
2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
4// %flair:license}
5/*!
6 * \file SimuCamera.h
7 * \brief Class for a simulation camera
8 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
9 * \date 2014/03/06
10 * \version 4.0
11 */
12
13#ifndef SIMUCAMERA_H
14#define SIMUCAMERA_H
15
16#include <Camera.h>
17#include <Thread.h>
18#include <cxcore.h>
19
20namespace flair {
21  namespace core {
22    class SharedMem;
23  }
24}
25
26namespace flair {
27namespace sensor {
28/*! \class SimuCamera
29*
30* \brief Class for a simulation camera
31*/
32class SimuCamera : public core::Thread, public Camera {
33public:
34  /*!
35  * \brief Constructor
36  *
37  * Construct a SimuCamera. Control part.
38        * It will be child of the FrameworkManager.
39  *
40  * \param name name
41  * \param width width
42  * \param height height
43  * \param channels number of channels
44  * \param modelId Model id
45  * \param deviceId Camera id of the Model
46  * \param priority priority of the Thread
47  */
48  SimuCamera(std::string name,
49             uint16_t width, uint16_t height, uint8_t channels, uint32_t modelId,uint32_t deviceId,
50             uint8_t priority);
51
52  /*!
53  * \brief Constructor
54  *
55  * Construct a SimuCamera. Simulation part.\n
56  * The Thread of this class should not be run.
57  *
58  * \param parent parent
59  * \param name name
60  * \param width width
61  * \param height height
62  * \param channels number of channels
63  * \param modelId Model id
64  * \param deviceId Camera id of the Model
65  */
66  SimuCamera(const core::IODevice *parent, std::string name, uint16_t width,
67             uint16_t height, uint8_t channels, uint32_t modelId,uint32_t deviceId);
68
69  /*!
70  * \brief Destructor
71  *
72  */
73  ~SimuCamera();
74
75protected:
76  /*!
77  * \brief SharedMem to access datas
78  *
79  */
80  core::SharedMem *shmem;
81
82private:
83  /*!
84  * \brief Run function
85  *
86  * Reimplemented from Thread.
87  *
88  */
89  void Run(void);
90
91  /*!
92  * \brief Update using provided datas
93  *
94  * Reimplemented from IODevice.
95  *
96  * \param data data from the parent to process
97  */
98  void UpdateFrom(const core::io_data *data){};
99 
100  std::string ShMemName(uint32_t modelId,uint32_t deviceId);
101
102  size_t buf_size;
103  char* shmemReadBuf;
104};
105} // end namespace sensor
106} // end namespace flair
107#endif // SIMUCAMERA_H
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