[4] | 1 | // %flair:license{
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[13] | 2 | // This file is part of the Flair framework distributed under the
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| 3 | // CECILL-C License, Version 1.0.
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[4] | 4 | // %flair:license}
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| 5 | /*!
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| 6 | * \file SimuUs.h
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| 7 | * \brief Class for a simulation UsRangeFinder
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| 8 | * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
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| 9 | * \date 2014/02/07
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| 10 | * \version 4.0
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| 11 | */
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| 12 |
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| 13 | #ifndef SIMUUS_H
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| 14 | #define SIMUUS_H
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| 15 |
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| 16 | #include <UsRangeFinder.h>
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| 17 | #include <Thread.h>
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| 18 |
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[13] | 19 | namespace flair {
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| 20 | namespace core {
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| 21 | class SharedMem;
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[4] | 22 | }
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[13] | 23 | namespace gui {
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| 24 | class SpinBox;
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| 25 | }
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| 26 | }
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[4] | 27 |
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[13] | 28 | namespace flair {
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| 29 | namespace sensor {
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| 30 | /*! \class SimuUs
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| 31 | *
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| 32 | * \brief Class for a simulation UsRangeFinder
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| 33 | */
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| 34 | class SimuUs : public core::Thread, public UsRangeFinder {
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| 35 | public:
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| 36 | /*!
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| 37 | * \brief Constructor
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| 38 | *
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| 39 | * Construct a SimuUs. Control part.
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| 40 | *
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| 41 | * \param parent parent
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| 42 | * \param name name
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| 43 | * \param dev_id device id
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| 44 | * \param priority priority of the Thread
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| 45 | */
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| 46 | SimuUs(const core::FrameworkManager *parent, std::string name,
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| 47 | uint32_t dev_id, uint8_t priority);
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[4] | 48 |
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[13] | 49 | /*!
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| 50 | * \brief Constructor
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| 51 | *
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| 52 | * Construct a SimuUs. Simulation part.\n
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| 53 | * The Thread of this class should not be run.
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| 54 | *
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| 55 | * \param parent parent
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| 56 | * \param name name
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| 57 | * \param dev_id device id
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| 58 | */
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| 59 | SimuUs(const core::IODevice *parent, std::string name, uint32_t dev_id);
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[4] | 60 |
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[13] | 61 | /*!
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| 62 | * \brief Destructor
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| 63 | *
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| 64 | */
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| 65 | ~SimuUs();
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[4] | 66 |
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[13] | 67 | protected:
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| 68 | /*!
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| 69 | * \brief SharedMem to access datas
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| 70 | *
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| 71 | */
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| 72 | core::SharedMem *shmem;
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[4] | 73 |
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[13] | 74 | private:
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| 75 | /*!
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| 76 | * \brief Update using provided datas
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| 77 | *
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| 78 | * Reimplemented from IODevice.
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| 79 | *
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| 80 | * \param data data from the parent to process
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| 81 | */
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| 82 | void UpdateFrom(const core::io_data *data){};
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[4] | 83 |
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[13] | 84 | /*!
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| 85 | * \brief Run function
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| 86 | *
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| 87 | * Reimplemented from Thread.
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| 88 | *
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| 89 | */
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| 90 | void Run(void);
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[4] | 91 |
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[13] | 92 | gui::SpinBox *data_rate;
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| 93 | };
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[4] | 94 | } // end namespace sensor
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| 95 | } // end namespace flair
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| 96 | #endif // SIMUUS_H
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