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