| 1 | // %flair:license{
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| 2 | // This file is part of the Flair framework distributed under the
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| 3 | // CECILL-C License, Version 1.0.
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| 4 | // %flair:license}
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| 5 | // created: 2013/12/10
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| 6 | // filename: ButterworthLowPass_impl.cpp
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| 7 | //
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| 8 | // author: Guillaume Sanahuja
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| 9 | // Copyright Heudiasyc UMR UTC/CNRS 7253
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| 10 | //
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| 11 | // version: $Id: $
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| 12 | //
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| 13 | // purpose: objet permettant le calcul d'un filtre passe bas de Butterworth
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| 14 | //
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| 15 | //
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| 16 | /*********************************************************************/
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| 17 |
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| 18 | #include "ButterworthLowPass_impl.h"
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| 19 | #include "ButterworthLowPass.h"
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| 20 | #include <cvmatrix.h>
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| 21 | #include <Layout.h>
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| 22 | #include <GroupBox.h>
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| 23 | #include <SpinBox.h>
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| 24 | #include <DoubleSpinBox.h>
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| 25 |
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| 26 | using std::string;
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| 27 | using namespace flair::core;
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| 28 | using namespace flair::gui;
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| 29 | using namespace flair::filter;
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| 30 |
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| 31 | ButterworthLowPass_impl::ButterworthLowPass_impl(ButterworthLowPass* self,const LayoutPosition* position,string name,int order)
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| 32 | {
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| 33 | //init UI
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| 34 | GroupBox* reglages_groupbox=new GroupBox(position,name);
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| 35 | T=new DoubleSpinBox(reglages_groupbox->NewRow(),"period, 0 for auto"," s",0,10,0.01);
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| 36 | cutoff=new DoubleSpinBox(reglages_groupbox->NewRow(),"cutoff frequency"," Hz",0,10000,0.1,2,1);
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| 37 |
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| 38 | cvmatrix_descriptor* desc=new cvmatrix_descriptor(1,1);
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| 39 | desc->SetElementName(0,0,"output");
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| 40 | output=new cvmatrix(self,desc,floatType,name);
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| 41 |
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| 42 | output->SetValue(0,0,0);
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| 43 |
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| 44 | f= new PoleFilter(order);
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| 45 |
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| 46 | if(T->Value()!=0) f->setup(1./T->Value(), cutoff->Value());
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| 47 | f->reset();
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| 48 |
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| 49 | first_update=true;
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| 50 | }
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| 51 |
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| 52 | ButterworthLowPass_impl::~ButterworthLowPass_impl()
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| 53 | {
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| 54 | delete f;
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| 55 | }
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| 56 |
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| 57 | void ButterworthLowPass_impl::UpdateFrom(const io_data *data)
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| 58 | {
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| 59 | float result;
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| 60 | cvmatrix *input=(cvmatrix*)data;
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| 61 |
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| 62 | if(T->ValueChanged() || cutoff->ValueChanged())
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| 63 | {
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| 64 | if(T->Value()!=0)
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| 65 | {
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| 66 | f->setup (1./T->Value(), cutoff->Value());
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| 67 | }
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| 68 | else
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| 69 | {
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| 70 | first_update=true;
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| 71 | }
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| 72 | }
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| 73 |
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| 74 | //on prend une fois pour toute les mutex et on fait des accès directs
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| 75 | output->GetMutex();
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| 76 | input->GetMutex();
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| 77 |
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| 78 | if(T->Value()==0)
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| 79 | {
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| 80 | float delta_t=(float)(data->DataTime()-previous_time)/1000000000.;
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| 81 | f->setup (1./delta_t, cutoff->Value());
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| 82 | }
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| 83 |
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| 84 | if(first_update==true)
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| 85 | {
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| 86 | first_update=false;
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| 87 | }
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| 88 | else
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| 89 | {
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| 90 | result = f->filter(input->ValueNoMutex(0,0));
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| 91 | output->SetValueNoMutex(0,0,result);
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| 92 | }
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| 93 |
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| 94 | input->ReleaseMutex();
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| 95 | output->ReleaseMutex();
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| 96 |
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| 97 | output->SetDataTime(data->DataTime());
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| 98 | previous_time=data->DataTime();
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| 99 | }
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| 100 |
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