source: flair-src/trunk/demos/Sinus/src/Sinus.cpp @ 157

Last change on this file since 157 was 157, checked in by Sanahuja Guillaume, 4 years ago

iadded isready to iodevice:
avoid problem of imu not ready in ardrone2

File size: 3.8 KB
Line 
1//  created:    2013/06/26
2//  filename:   Sinus.cpp
3//
4//  author:     Guillaume Sanahuja
5//              Copyright Heudiasyc UMR UTC/CNRS 7253
6//
7//  version:    $Id: $
8//
9//  purpose:    class generating a sinus signal
10//
11//
12/*********************************************************************/
13
14#include "Sinus.h"
15#include <FrameworkManager.h>
16#include <TabWidget.h>
17#include <Tab.h>
18#include <GridLayout.h>
19#include <GroupBox.h>
20#include <DoubleSpinBox.h>
21#include <SpinBox.h>
22#include <DataPlot1D.h>
23#include <cvmatrix.h>
24#include <math.h>
25
26#define PI ((float)3.14159265358979323846)
27
28using namespace std;
29using namespace flair::core;
30using namespace flair::gui;
31
32namespace flair {
33namespace sensor {
34
35Sinus::Sinus(const FrameworkManager *parent, string name, int priority)
36    : IODevice(parent, name), Thread(parent, name, priority) {
37
38  plot = NULL;
39
40  // 1*1 output matrix
41  cvmatrix_descriptor *desc = new cvmatrix_descriptor(1, 1);
42  desc->SetElementName(0, 0, "value"); // name will be used for graphs and logs
43  output = new cvmatrix((IODevice *)this, desc, floatType, name);
44  delete desc;
45
46  AddDataToLog(output);
47
48  // interface initialisation
49  mainTab = new Tab(parent->GetTabWidget(), name);
50  tabWidget = new TabWidget(mainTab->NewRow(), name);
51
52  Tab *settingsTab = new Tab(tabWidget, "Settings");
53  GroupBox *sinusGroupBox = new GroupBox(settingsTab->NewRow(), name);
54  frequency = new DoubleSpinBox(sinusGroupBox->NewRow(), "frequence:", " Hz", 0,
55                                100, 1);
56  amplitude = new DoubleSpinBox(sinusGroupBox->LastRowLastCol(), "amplitude:",
57                                0, 10, 1);
58  offset =
59      new DoubleSpinBox(sinusGroupBox->LastRowLastCol(), "offset:", 0, 10, 1);
60  period =
61      new SpinBox(settingsTab->NewRow(), "period thread:", " ms", 1, 1000, 1);
62
63  setupLayout = new GridLayout(
64      settingsTab->NewRow(),
65      "setup"); // layout sui servira à placer des filtres par exemple
66     
67  SetIsReady(true);
68}
69
70Sinus::~Sinus() {
71
72  SafeStop();
73  Join();
74
75  // main_tab has the FrameworkManager as parent; it will be destroyed when
76  // FrameworkManager is destroyed
77  // it is cleaner to delete it manually, because main_tab is unnecessary when
78  // Sinus is deleted
79  delete mainTab;
80}
81
82void Sinus::UseDefaultPlot(void) {
83  Tab *plotTab = new Tab(tabWidget, "Graph");
84  plot = new DataPlot1D(plotTab->NewRow(), "Sinus", -10, 10);
85  plot->AddCurve(output->Element(0), DataPlot::Red);
86}
87
88GridLayout *Sinus::GetSetupLayout(void) const { return setupLayout; }
89
90DataPlot1D *Sinus::GetPlot(void) const {
91  if (plot == NULL)
92    Printf("Sinus::Plot, plot not yet defined, call UseDefaultPlot first\n");
93  return plot;
94}
95
96cvmatrix *Sinus::GetMatrix(void) const { return output; }
97
98float Sinus::GetValue(void) const { return output->Value(0, 0); }
99
100// main function, where  we compute the signal
101void Sinus::Run(void) {
102
103  SetPeriodMS(period->Value());
104
105  // warn if changing from primary to secondary mode when in real time
106  WarnUponSwitches(true);
107
108  Time initTime = GetTime();
109
110  while (!ToBeStopped()) {
111    WaitPeriod();
112
113    if (period->ValueChanged() == true)
114      SetPeriodMS(period->Value());
115
116    // compute sinus
117    Time actualTime = GetTime();
118    float value =
119        offset->Value() +
120        amplitude->Value() *
121            sinf(2 * PI * frequency->Value() * (actualTime - initTime) /
122                 1000000000.); // les temps sont en nanosecondes
123
124    // put the result in output matrix
125    output->SetValue(0, 0, value);
126    // put corresponding time
127    output->SetDataTime(actualTime);
128
129    // ProcessUpdate is very important
130    // we must call it after updating the output matrix
131    // it allows:
132    // -to save value in the logs
133    // -to automatically call the next filter UpdateFrom method
134    ProcessUpdate(output);
135  }
136}
137} // end namespace sensor
138} // end namespace flair
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