source: flair-src/trunk/demos/Sinus/src/Sinus.cpp@ 14

//  created:    2013/06/26

//  filename:   Sinus.cpp

//

//  author:     Guillaume Sanahuja

//              Copyright Heudiasyc UMR UTC/CNRS 7253

//

//  version:    $Id: $

//

//  purpose:    class generating a sinus signal

//

//

/*********************************************************************/



#include "Sinus.h"

#include <FrameworkManager.h>

#include <TabWidget.h>

#include <Tab.h>

#include <GridLayout.h>

#include <GroupBox.h>

#include <DoubleSpinBox.h>

#include <SpinBox.h>

#include <DataPlot1D.h>

#include <cvmatrix.h>

#include <math.h>



#define PI ((float)3.14159265358979323846)



using namespace std;

using namespace flair::core;

using namespace flair::gui;



namespace flair { namespace sensor {



Sinus::Sinus(const FrameworkManager* parent,string name,int priority) : IODevice(parent,name),Thread(parent,name,priority) {



    plot=NULL;



    //1*1 output matrix

    cvmatrix_descriptor* desc=new cvmatrix_descriptor(1,1);

    desc->SetElementName(0,0,"value");//name will be used for graphs and logs

    output=new cvmatrix((IODevice*)this,desc,floatType,name);

    output->SetValue(0,0,0);





    AddDataToLog(output);



    //interface initialisation

    mainTab=new Tab(parent->GetTabWidget(),name);

    tabWidget=new TabWidget(mainTab->NewRow(),name);



    Tab* settingsTab=new Tab(tabWidget,"Settings");

    GroupBox* sinusGroupBox=new GroupBox(settingsTab->NewRow(),name);

    frequency=new DoubleSpinBox(sinusGroupBox->NewRow(),"frequence:"," Hz",0,100,1);

    amplitude=new DoubleSpinBox(sinusGroupBox->LastRowLastCol(),"amplitude:",0,10,1);

    offset=new DoubleSpinBox(sinusGroupBox->LastRowLastCol(),"offset:",0,10,1);

    period=new SpinBox(settingsTab->NewRow(),"period thread:"," ms",1,1000,1);



    setupLayout=new GridLayout(settingsTab->NewRow(),"setup");//layout sui servira à placer des filtres par exemple

}





Sinus::~Sinus() {



    SafeStop();

    Join();



    //main_tab has the FrameworkManager as parent; it will be destroyed when FrameworkManager is destroyed

    //it is cleaner to delete it manually, because main_tab is unnecessary when Sinus is deleted

    delete mainTab;

}



void Sinus::UseDefaultPlot(void) {

    Tab* plotTab=new Tab(tabWidget,"Graph");

    plot=new DataPlot1D(plotTab->NewRow(),"Sinus",-10,10);

    plot->AddCurve(output->Element(0),DataPlot::Red);

}



GridLayout* Sinus::GetSetupLayout(void) const {

    return setupLayout;

}



DataPlot1D* Sinus::GetPlot(void) const {

    if(plot==NULL) Printf("Sinus::Plot, plot not yet defined, call UseDefaultPlot first\n");

    return plot;

}



cvmatrix *Sinus::GetMatrix(void) const {

    return output;

}



float Sinus::GetValue(void) const {

    return output->Value(0,0);

}



//main function, where  we compute the signal

void Sinus::Run(void) {



    SetPeriodMS(period->Value());



    //warn if changing from primary to secondary mode when in real time

    WarnUponSwitches(true);



    Time initTime=GetTime();



    while(!ToBeStopped()) {

        WaitPeriod();



        if(period->ValueChanged()==true) SetPeriodMS(period->Value());



        //compute sinus

        Time actualTime=GetTime();

        float value=offset->Value()+amplitude->Value()*sinf(2*PI*frequency->Value()*(actualTime-initTime)/1000000000.);//les temps sont en nanosecondes



        //put the result in output matrix

        output->SetValue(0,0,value);

        //put corresponding time

        output->SetDataTime(actualTime);



        //ProcessUpdate is very important

        //we must call it after updating the output matrix

        //it allows:

        // -to save value in the logs

        // -to automatically call the next filter UpdateFrom method

        ProcessUpdate(output);

    }

}

}// end namespace sensor

}// end namespace flair