source: flair-src/trunk/lib/FlairCore/src/IODevice.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: 1.8 KB
Line 
1// %flair:license{
2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
4// %flair:license}
5//  created:    2011/05/01
6//  filename:   IODevice.cpp
7//
8//  author:     Guillaume Sanahuja
9//              Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11//  version:    $Id: $
12//
13//  purpose:    Abstract class for input/ouput system
14//
15//
16/*********************************************************************/
17
18#include "IODevice.h"
19#include "IODevice_impl.h"
20#include "io_data.h"
21#include "io_data_impl.h"
22#include "FrameworkManager.h"
23
24using std::string;
25
26namespace flair {
27namespace core {
28
29IODevice::IODevice(const Object* parent,string name): Object(parent,name,"IODevice") {
30    pimpl_=new IODevice_impl(this);
31}
32
33IODevice::~IODevice() { delete pimpl_; }
34
35void IODevice::AddDeviceToLog(const IODevice *device) {
36  pimpl_->AddDeviceToLog(device);
37}
38
39void IODevice::OutputToShMem(bool enabled) { pimpl_->OutputToShMem(enabled); }
40
41void IODevice::ProcessUpdate(io_data *data) {
42  if (data != NULL)
43    data->pimpl_->SetConsistent(true);
44
45  for (size_t i = 0; i < TypeChilds()->size(); i++) {
46    ((IODevice *)TypeChilds()->at(i))->UpdateFrom(data);
47  }
48
49    if(data!=NULL) {
50        if(getFrameworkManager()->IsLogging()==true) pimpl_->WriteLog(data->DataTime());
51
52    data->pimpl_->Circle();
53  }
54
55  pimpl_->WriteToShMem();
56
57  pimpl_->ResumeThread();
58}
59
60void IODevice::AddDataToLog(const io_data *data) { pimpl_->AddDataToLog(data); }
61
62DataType const &IODevice::GetInputDataType() const { return dummyType; }
63
64DataType const &IODevice::GetOutputDataType() const { return dummyType; }
65
66void IODevice::SetIsReady(bool status) {
67  pimpl_->SetIsReady(status);
68}
69
70bool IODevice::IsReady(void) const {
71  return pimpl_->IsReady();
72}
73
74} // end namespace core
75} // end namespace flair
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