source: flair-src/tags/latest/lib/FlairIpc/src/IpcUs.cpp

Last change on this file was 397, checked in by Sanahuja Guillaume, 8 months ago

add ipc lib

  • Property svn:eol-style set to native
File size: 2.8 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:    2021/03/03
6//  filename:   IpcUs.cpp
7//
8//  author:     Sébastien Ambroziak
9//              Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11//  version:    $Id: $
12//
13//  purpose:    Class for an ipc us
14//
15//
16/*********************************************************************/
17
18#include "IpcUs.h"
19#include "ipc_receive.h"
20#include "shm_receive.h"
21#include <FrameworkManager.h>
22#include <SpinBox.h>
23#include <GroupBox.h>
24#include <Matrix.h>
25
26using namespace flair::core;
27using namespace flair::gui;
28
29namespace flair {
30namespace sensor {
31
32IpcUs::IpcUs(string name, uint8_t priority, const char* ipc_name, int ipc_channel)
33    : Thread(getFrameworkManager(), name, priority), UsRangeFinder( name) {
34  data_rate =
35      new SpinBox(GetGroupBox()->NewRow(), "data rate", " Hz", 1, 500, 1, 50);
36
37  //init non blocking ipc receiver
38  receiver = new ShmReceiver<float>(ipc_name,ipc_channel,true);
39
40  SetIsReady(true);
41}
42
43IpcUs::~IpcUs() {
44  SafeStop();
45  Join();
46}
47
48
49void IpcUs::Run(void) {
50 
51  SetPeriodUS((uint32_t)(1000000. / data_rate->Value()));
52  Time stamp; 
53  Time lastT = GetTime();
54  while (!ToBeStopped()) {
55    WaitPeriod();
56
57    receiver->receive();
58
59    stamp = GetTime();
60
61    //SetPeriodUS((receiver->getTimestamp().toNanosec() - Last)/1000);
62   
63   
64   
65    if (data_rate->ValueChanged() == true) {
66      SetPeriodUS((uint32_t)(1000000. / data_rate->Value()));
67    }
68
69    //output->SetDataTime((Time)receiver->getTimestamp().toNanosec());
70    /*if (lastT < receiver->getTimestamp().toNanosec()){
71      output->SetValue(0, 0, receiver->getValue());
72      output->SetDataTime(receiver->getTimestamp().toNanosec());
73      //cout << "lastT: " << receiver->getTimestamp().toNanosec()  << " ecart: " << receiver->getTimestamp().toNanosec() - lastT << endl;
74      lastT = receiver->getTimestamp().toNanosec();
75    }
76
77    else{
78      output->SetValue(0, 0, receiver->getValue());
79      output->SetDataTime(lastT + GetPeriodUS()*1000);
80      //cout << "stamp: " << lastT + GetPeriodUS() << ' ' << " \tecart: " << stamp - lastT << endl;
81      lastT = lastT + GetPeriodUS()*1000;
82    }*/
83
84    /*if (receiver->getValue() >= 0){
85      output->SetValue(0, 0, (receiver->getValue())/100.0);
86    }
87    else
88    {
89      output->SetValue(0,0,0);
90    }*/
91   
92    output->SetValue(0, 0, (receiver->getValue())/100.0);
93    output->SetDataTime(stamp);
94    //output->SetDataTime(receiver->getTimestamp().toNanosec());
95
96    //cout << receiver->getTimestamp().toNanosec() << ' ' << receiver->getValue() << endl;
97    ProcessUpdate(output);
98    //cout << "GetTime: " <<  stamp << " ipc: " << receiver->getTimestamp().toNanosec() << " écart: " << stamp - receiver->getTimestamp().toNanosec() << endl;
99  }
100}
101
102} // end namespace sensor
103} // end namespace flair
104
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