source: flair-dev/trunk/include/FlairSensorActuator/SimuCamera.h@ 61

Last change on this file since 61 was 50, checked in by Sanahuja Guillaume, 5 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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