source: flair-dev/trunk/include/FlairSensorActuator/SimuUs.h @ 68

Last change on this file since 68 was 68, checked in by Sanahuja Guillaume, 3 years ago

maj for armv5te

File size: 1.6 KB
Line 
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.
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 Destructor
52  *
53  */
54  ~SimuUs();
55
56protected:
57  /*!
58  * \brief SharedMem to access datas
59  *
60  */
61  core::SharedMem *shmem;
62
63private:
64  /*!
65  * \brief Update using provided datas
66  *
67  * Reimplemented from IODevice.
68  *
69  * \param data data from the parent to process
70  */
71  void UpdateFrom(const core::io_data *data){};
72
73  /*!
74  * \brief Run function
75  *
76  * Reimplemented from Thread.
77  *
78  */
79  void Run(void);
80 
81  std::string ShMemName(uint32_t modelId,uint32_t deviceId);
82  gui::SpinBox *data_rate;
83};
84} // end namespace sensor
85} // end namespace flair
86#endif // SIMUUS_H
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