| [14] | 1 | // created: 2013/06/26
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| 2 | // filename: Sinus.cpp
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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 | // purpose: class generating a sinus signal
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| 10 | //
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| 11 | //
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| 12 | /*********************************************************************/
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| 13 |
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| 14 | #include "Sinus.h"
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| 15 | #include <FrameworkManager.h>
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| 16 | #include <TabWidget.h>
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| 17 | #include <Tab.h>
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| 18 | #include <GridLayout.h>
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| 19 | #include <GroupBox.h>
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| 20 | #include <DoubleSpinBox.h>
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| 21 | #include <SpinBox.h>
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| 22 | #include <DataPlot1D.h>
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| 23 | #include <cvmatrix.h>
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| 24 | #include <math.h>
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| 25 |
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| 26 | #define PI ((float)3.14159265358979323846)
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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 |
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| [16] | 32 | namespace flair {
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| 33 | namespace sensor {
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| [14] | 34 |
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| [16] | 35 | Sinus::Sinus(const FrameworkManager *parent, string name, int priority)
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| 36 | : IODevice(parent, name), Thread(parent, name, priority) {
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| [14] | 37 |
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| [16] | 38 | plot = NULL;
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| [14] | 39 |
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| [16] | 40 | // 1*1 output matrix
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| 41 | cvmatrix_descriptor *desc = new cvmatrix_descriptor(1, 1);
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| 42 | desc->SetElementName(0, 0, "value"); // name will be used for graphs and logs
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| 43 | output = new cvmatrix((IODevice *)this, desc, floatType, name);
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| 44 | output->SetValue(0, 0, 0);
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| [14] | 45 |
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| [16] | 46 | AddDataToLog(output);
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| [14] | 47 |
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| [16] | 48 | // interface initialisation
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| 49 | mainTab = new Tab(parent->GetTabWidget(), name);
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| 50 | tabWidget = new TabWidget(mainTab->NewRow(), name);
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| [14] | 51 |
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| [16] | 52 | Tab *settingsTab = new Tab(tabWidget, "Settings");
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| 53 | GroupBox *sinusGroupBox = new GroupBox(settingsTab->NewRow(), name);
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| 54 | frequency = new DoubleSpinBox(sinusGroupBox->NewRow(), "frequence:", " Hz", 0,
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| 55 | 100, 1);
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| 56 | amplitude = new DoubleSpinBox(sinusGroupBox->LastRowLastCol(), "amplitude:",
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| 57 | 0, 10, 1);
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| 58 | offset =
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| 59 | new DoubleSpinBox(sinusGroupBox->LastRowLastCol(), "offset:", 0, 10, 1);
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| 60 | period =
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| 61 | new SpinBox(settingsTab->NewRow(), "period thread:", " ms", 1, 1000, 1);
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| [14] | 62 |
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| [16] | 63 | setupLayout = new GridLayout(
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| 64 | settingsTab->NewRow(),
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| 65 | "setup"); // layout sui servira à placer des filtres par exemple
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| [14] | 66 | }
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| 67 |
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| 68 | Sinus::~Sinus() {
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| 69 |
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| [16] | 70 | SafeStop();
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| 71 | Join();
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| [14] | 72 |
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| [16] | 73 | // main_tab has the FrameworkManager as parent; it will be destroyed when
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| 74 | // FrameworkManager is destroyed
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| 75 | // it is cleaner to delete it manually, because main_tab is unnecessary when
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| 76 | // Sinus is deleted
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| 77 | delete mainTab;
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| [14] | 78 | }
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| 79 |
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| 80 | void Sinus::UseDefaultPlot(void) {
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| [16] | 81 | Tab *plotTab = new Tab(tabWidget, "Graph");
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| 82 | plot = new DataPlot1D(plotTab->NewRow(), "Sinus", -10, 10);
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| 83 | plot->AddCurve(output->Element(0), DataPlot::Red);
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| [14] | 84 | }
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| 85 |
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| [16] | 86 | GridLayout *Sinus::GetSetupLayout(void) const { return setupLayout; }
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| [14] | 87 |
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| [16] | 88 | DataPlot1D *Sinus::GetPlot(void) const {
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| 89 | if (plot == NULL)
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| 90 | Printf("Sinus::Plot, plot not yet defined, call UseDefaultPlot first\n");
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| 91 | return plot;
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| [14] | 92 | }
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| 93 |
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| [16] | 94 | cvmatrix *Sinus::GetMatrix(void) const { return output; }
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| [14] | 95 |
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| [16] | 96 | float Sinus::GetValue(void) const { return output->Value(0, 0); }
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| [14] | 97 |
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| [16] | 98 | // main function, where we compute the signal
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| [14] | 99 | void Sinus::Run(void) {
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| 100 |
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| [16] | 101 | SetPeriodMS(period->Value());
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| [14] | 102 |
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| [16] | 103 | // warn if changing from primary to secondary mode when in real time
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| 104 | WarnUponSwitches(true);
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| [14] | 105 |
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| [16] | 106 | Time initTime = GetTime();
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| [14] | 107 |
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| [16] | 108 | while (!ToBeStopped()) {
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| 109 | WaitPeriod();
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| [14] | 110 |
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| [16] | 111 | if (period->ValueChanged() == true)
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| 112 | SetPeriodMS(period->Value());
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| [14] | 113 |
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| [16] | 114 | // compute sinus
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| 115 | Time actualTime = GetTime();
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| 116 | float value =
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| 117 | offset->Value() +
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| 118 | amplitude->Value() *
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| 119 | sinf(2 * PI * frequency->Value() * (actualTime - initTime) /
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| 120 | 1000000000.); // les temps sont en nanosecondes
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| [14] | 121 |
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| [16] | 122 | // put the result in output matrix
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| 123 | output->SetValue(0, 0, value);
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| 124 | // put corresponding time
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| 125 | output->SetDataTime(actualTime);
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| [14] | 126 |
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| [16] | 127 | // ProcessUpdate is very important
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| 128 | // we must call it after updating the output matrix
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| 129 | // it allows:
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| 130 | // -to save value in the logs
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| 131 | // -to automatically call the next filter UpdateFrom method
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| 132 | ProcessUpdate(output);
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| 133 | }
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| [14] | 134 | }
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| [16] | 135 | } // end namespace sensor
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| 136 | } // end namespace flair
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