source: flair-src/branches/mavlink/lib/FlairSensorActuator/src/Imu.cpp @ 98

Last change on this file since 98 was 15, checked in by Bayard Gildas, 6 years ago

sources reformatted with flair-format-dir script

File size: 3.8 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//  created:    2014/01/16
6//  filename:   Imu.cpp
7//
8//  author:     Guillaume Sanahuja
9//              Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11//  version:    $Id: $
12//
13//  purpose:    Virtual class for Imu
14//
15//
16/*********************************************************************/
17
18#include "Imu.h"
19#include <FrameworkManager.h>
20#include <Tab.h>
21#include <TabWidget.h>
22#include <GroupBox.h>
23#include <GridLayout.h>
24#include <DataPlot1D.h>
25#include <ImuData.h>
26#include <OneAxisRotation.h>
27
28using std::string;
29using namespace flair::core;
30using namespace flair::gui;
31
32namespace flair {
33namespace sensor {
34
35Imu::Imu(const FrameworkManager *parent, string name) : IODevice(parent, name) {
36  imuData = new ImuData(this);
37
38  // station sol
39  mainTab = new Tab(parent->GetTabWidget(), name);
40  tab = new TabWidget(mainTab->NewRow(), name);
41  sensorTab = new Tab(tab, "Reglages");
42  setupGroupbox = new GroupBox(sensorTab->NewRow(), name);
43  rotation = new OneAxisRotation(sensorTab->NewRow(), "post rotation");
44}
45
46Imu::Imu(const IODevice *parent, std::string name) : IODevice(parent, name) {
47  imuData = new ImuData(this);
48  mainTab = NULL;
49  tab = NULL;
50  sensorTab = NULL;
51  setupGroupbox = NULL;
52  rotation = NULL;
53}
54
55Imu::~Imu() {
56  if (mainTab != NULL)
57    delete mainTab;
58}
59
60void Imu::GetDatas(ImuData **outImuData) const { *outImuData = imuData; }
61void Imu::UpdateImu() {
62  if (rotation == NULL) {
63    Err("not applicable for simulation part.\n");
64    return;
65  }
66  Vector3D rawAcc, rawMag, rawGyr;
67  imuData->GetRawAccMagAndGyr(rawAcc, rawMag, rawGyr);
68  rotation->ComputeRotation(rawAcc);
69  rotation->ComputeRotation(rawGyr);
70  rotation->ComputeRotation(rawMag);
71  imuData->SetRawAccMagAndGyr(rawAcc, rawMag, rawGyr);
72}
73
74GroupBox *Imu::GetGroupBox(void) const { return setupGroupbox; }
75
76Layout *Imu::GetLayout(void) const { return sensorTab; }
77
78void Imu::LockUserInterface(void) const {
79  if (sensorTab == NULL) {
80    Err("not applicable for simulation part.\n");
81    return;
82  }
83  sensorTab->setEnabled(false);
84}
85
86void Imu::UnlockUserInterface(void) const {
87  if (sensorTab == NULL) {
88    Err("not applicable for simulation part.\n");
89    return;
90  }
91  sensorTab->setEnabled(true);
92}
93
94void Imu::UseDefaultPlot(void) {
95  if (tab == NULL) {
96    Err("not applicable for simulation part.\n");
97    return;
98  }
99
100  plotTab = new Tab(tab, "IMU");
101  axPlot = new DataPlot1D(plotTab->NewRow(), "acc_x", -10, 10);
102  axPlot->AddCurve(imuData->Element(ImuData::RawAx));
103  ayPlot = new DataPlot1D(plotTab->LastRowLastCol(), "acc_y", -10, 10);
104  ayPlot->AddCurve(imuData->Element(ImuData::RawAy));
105  azPlot = new DataPlot1D(plotTab->LastRowLastCol(), "acc_z", -10, 10);
106  azPlot->AddCurve(imuData->Element(ImuData::RawAz));
107
108  if (plotTab == NULL)
109    plotTab = new Tab(tab, "IMU");
110  gxPlot = new DataPlot1D(plotTab->NewRow(), "gyr_x", -500, 500);
111  gxPlot->AddCurve(imuData->Element(ImuData::RawGxDeg));
112  gyPlot = new DataPlot1D(plotTab->LastRowLastCol(), "gyr_y", -500, 500);
113  gyPlot->AddCurve(imuData->Element(ImuData::RawGyDeg));
114  gzPlot = new DataPlot1D(plotTab->LastRowLastCol(), "gyr_z", -500, 500);
115  gzPlot->AddCurve(imuData->Element(ImuData::RawGzDeg));
116
117  if (plotTab == NULL)
118    plotTab = new Tab(tab, "IMU");
119  mxPlot = new DataPlot1D(plotTab->NewRow(), "mag_x", -500, 500);
120  mxPlot->AddCurve(imuData->Element(ImuData::RawMx));
121  myPlot = new DataPlot1D(plotTab->LastRowLastCol(), "mag_y", -500, 500);
122  myPlot->AddCurve(imuData->Element(ImuData::RawMy));
123  mzPlot = new DataPlot1D(plotTab->LastRowLastCol(), "mag_z", -500, 500);
124  mzPlot->AddCurve(imuData->Element(ImuData::RawMz));
125}
126
127Tab *Imu::GetPlotTab(void) const { return plotTab; }
128
129} // end namespace sensor
130} // end namespace flair
Note: See TracBrowser for help on using the repository browser.