| [14] | 1 | // created: 2013/06/26
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| 2 | // filename: Loop.h
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| 3 | //
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| 4 | // author: Guillaume Sanahuja
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| 5 | // Copyright Heudiasyc UMR UTC/CNRS 7253
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| 6 | //
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| 7 | // version: $Id: $
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| 8 | //
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| 9 | //
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| 10 | //
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| 11 | /*********************************************************************/
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| 12 |
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| [16] | 13 | // include header of the class
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| [14] | 14 | #include "Loop.h"
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| [16] | 15 | // include only header of class declared in Loop.h (forward declaration)
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| [14] | 16 | #include "Sinus.h"
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| 17 | #include "MeanFilter.h"
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| 18 | #include <LowPassFilter.h>
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| 19 | #include <ButterworthLowPass.h>
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| 20 | #include <FrameworkManager.h>
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| 21 | #include <Tab.h>
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| 22 | #include <GridLayout.h>
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| 23 | #include <SpinBox.h>
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| 24 | #include <PushButton.h>
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| 25 | #include <DataPlot1D.h>
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| 26 | #include <cvmatrix.h>
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| 27 |
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| 28 | using namespace std;
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| 29 | using namespace flair::core;
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| 30 | using namespace flair::gui;
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| 31 | using namespace flair::filter;
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| 32 | using namespace flair::sensor;
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| 33 |
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| [16] | 34 | Loop::Loop(FrameworkManager *parent, string name, int priority)
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| 35 | : Thread(parent, name, priority) {
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| 36 | Tab *mainTab = new Tab(parent->GetTabWidget(), ObjectName());
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| 37 | killButton = new PushButton(mainTab->NewRow(), "kill");
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| 38 | startLogButton = new PushButton(mainTab->NewRow(), "start_log");
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| 39 | stopLogButton = new PushButton(mainTab->LastRowLastCol(), "stop_log");
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| 40 | period = new SpinBox(mainTab->NewRow(), "period thread:", " ms", 10, 1000, 1);
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| [14] | 41 |
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| [16] | 42 | sinus = new Sinus(parent, "sinus");
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| 43 | sinus->UseDefaultPlot();
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| [14] | 44 |
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| [16] | 45 | // 1st order law pass filter on raw signal, its parent is the sinus
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| 46 | firstLowPass = new LowPassFilter(sinus, sinus->GetSetupLayout()->NewRow(),
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| 47 | "1st order lawpass filter");
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| 48 | sinus->GetPlot()->AddCurve(
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| 49 | firstLowPass->Matrix()->Element(0),
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| 50 | DataPlot::Blue); // add output of the filter to signal's graph
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| [14] | 51 |
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| [16] | 52 | // 3rd order law pass filter on raw signal, its parent is the sinus
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| 53 | thirdLowPass = new ButterworthLowPass(
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| 54 | sinus, sinus->GetSetupLayout()->NewRow(), "3rd order lawpass filter", 3);
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| 55 | sinus->GetPlot()->AddCurve(
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| 56 | thirdLowPass->Matrix()->Element(0),
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| 57 | DataPlot::Yellow); // add output of the filter to signal's graph
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| [14] | 58 |
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| [16] | 59 | // mean filter on raw signal, its parent is the sinus
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| 60 | mean =
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| 61 | new MeanFilter(sinus, sinus->GetSetupLayout()->NewRow(), "Mean filter");
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| 62 | sinus->GetPlot()->AddCurve(
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| 63 | mean->GetMatrix()->Element(0),
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| 64 | DataPlot::Green); // add output of the filter to signal's graph
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| [14] | 65 |
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| [16] | 66 | // mean filter on 1st order law pass filter, its parent is the 1st order law
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| 67 | // pass filter
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| 68 | meanOnfirstLowPass =
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| 69 | new MeanFilter(firstLowPass, sinus->GetSetupLayout()->NewRow(),
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| 70 | "Mean filter on 1st order lawpass filter");
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| 71 | sinus->GetPlot()->AddCurve(
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| 72 | meanOnfirstLowPass->GetMatrix()->Element(0),
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| 73 | DataPlot::Black); // add output of the filter to signal's graph
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| [14] | 74 |
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| [16] | 75 | // set ojects to be logged
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| 76 | // as the law pass filters and the mean filters have the sinus as parent, they
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| 77 | // are automatically logged
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| 78 | parent->AddDeviceToLog(sinus);
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| [14] | 79 | }
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| 80 |
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| [16] | 81 | Loop::~Loop() {}
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| [14] | 82 |
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| [16] | 83 | // main loop of the Thread
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| [14] | 84 | void Loop::Run(void) {
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| [16] | 85 | // warn if changing from primary to secondary mode when in real time
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| 86 | WarnUponSwitches(true);
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| [14] | 87 |
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| [16] | 88 | sinus->Start();
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| [14] | 89 |
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| [16] | 90 | SetPeriodMS(period->Value());
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| [14] | 91 |
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| [16] | 92 | while (1) {
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| 93 | WaitPeriod();
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| [14] | 94 |
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| [16] | 95 | if (period->ValueChanged())
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| 96 | SetPeriodMS(period->Value());
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| [14] | 97 |
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| [16] | 98 | if (killButton->Clicked())
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| 99 | break;
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| 100 | if (startLogButton->Clicked())
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| 101 | getFrameworkManager()->StartLog();
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| 102 | if (stopLogButton->Clicked())
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| 103 | getFrameworkManager()->StopLog();
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| [14] | 104 |
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| [16] | 105 | // nothing more to do
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| 106 | // this is a very simple example
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| [14] | 107 |
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| [16] | 108 | // normaly, we should use results of filters to calculate a control law
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| 109 | }
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| [14] | 110 |
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| [16] | 111 | WarnUponSwitches(false);
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| [14] | 112 | }
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