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