| 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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| 13 | //include header of the class
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| 14 | #include "Loop.h"
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| 15 | //include only header of class declared in Loop.h (forward declaration)
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| 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 |
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| 29 | using namespace std;
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| 30 | using namespace flair::core;
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| 31 | using namespace flair::gui;
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| 32 | using namespace flair::filter;
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| 33 | using namespace flair::sensor;
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| 34 |
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| 35 | Loop::Loop(FrameworkManager* parent,string name,int priority): 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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| 41 |
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| 42 | sinus=new Sinus(parent,"sinus");
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| 43 | sinus->UseDefaultPlot();
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| 44 |
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| 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(),"1st order lawpass filter");
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| 47 | sinus->GetPlot()->AddCurve(firstLowPass->Matrix()->Element(0),DataPlot::Blue);//add output of the filter to signal's graph
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| 48 |
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| 49 | //3rd order law pass filter on raw signal, its parent is the sinus
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| 50 | thirdLowPass=new ButterworthLowPass(sinus,sinus->GetSetupLayout()->NewRow(),"3rd order lawpass filter",3);
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| 51 | sinus->GetPlot()->AddCurve(thirdLowPass->Matrix()->Element(0),DataPlot::Yellow);//add output of the filter to signal's graph
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| 52 |
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| 53 | //mean filter on raw signal, its parent is the sinus
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| 54 | mean=new MeanFilter(sinus,sinus->GetSetupLayout()->NewRow(),"Mean filter");
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| 55 | sinus->GetPlot()->AddCurve(mean->GetMatrix()->Element(0),DataPlot::Green);//add output of the filter to signal's graph
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| 56 |
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| 57 | //mean filter on 1st order law pass filter, its parent is the 1st order law pass filter
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| 58 | meanOnfirstLowPass=new MeanFilter(firstLowPass,sinus->GetSetupLayout()->NewRow(),"Mean filter on 1st order lawpass filter");
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| 59 | sinus->GetPlot()->AddCurve(meanOnfirstLowPass->GetMatrix()->Element(0),DataPlot::Black);//add output of the filter to signal's graph
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| 60 |
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| 61 | //set ojects to be logged
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| 62 | //as the law pass filters and the mean filters have the sinus as parent, they are automatically logged
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| 63 | parent->AddDeviceToLog(sinus);
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| 64 | }
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| 65 |
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| 66 | Loop::~Loop() {
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| 67 |
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| 68 | }
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| 69 |
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| 70 | //main loop of the Thread
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| 71 | void Loop::Run(void) {
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| 72 | //warn if changing from primary to secondary mode when in real time
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| 73 | WarnUponSwitches(true);
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| 74 |
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| 75 | sinus->Start();
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| 76 |
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| 77 | SetPeriodMS(period->Value());
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| 78 |
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| 79 | while(1) {
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| 80 | WaitPeriod();
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| 81 |
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| 82 | if(period->ValueChanged()) SetPeriodMS(period->Value());
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| 83 |
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| 84 | if(killButton->Clicked()) break;
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| 85 | if(startLogButton->Clicked()) getFrameworkManager()->StartLog();
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| 86 | if(stopLogButton->Clicked()) getFrameworkManager()->StopLog();
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| 87 |
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| 88 | //nothing more to do
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| 89 | //this is a very simple example
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| 90 |
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| 91 | //normaly, we should use results of filters to calculate a control law
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| 92 | }
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| 93 |
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| 94 | WarnUponSwitches(false);
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| 95 | }
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