[10] | 1 | // %flair:license{
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[15] | 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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[10] | 4 | // %flair:license}
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[7] | 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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[15] | 31 | ButterworthLowPass_impl::ButterworthLowPass_impl(ButterworthLowPass *self,
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| 32 | const LayoutPosition *position,
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| 33 | string name, int order) {
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| 34 | // init UI
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| 35 | GroupBox *reglages_groupbox = new GroupBox(position, name);
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| 36 | T = new DoubleSpinBox(reglages_groupbox->NewRow(), "period, 0 for auto", " s",
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| 37 | 0, 10, 0.01);
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| 38 | cutoff = new DoubleSpinBox(reglages_groupbox->NewRow(), "cutoff frequency",
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| 39 | " Hz", 0, 10000, 0.1, 2, 1);
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[7] | 40 |
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[15] | 41 | cvmatrix_descriptor *desc = new cvmatrix_descriptor(1, 1);
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| 42 | desc->SetElementName(0, 0, "output");
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| 43 | output = new cvmatrix(self, desc, floatType, name);
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[148] | 44 | delete desc;
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[7] | 45 |
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[15] | 46 | f = new PoleFilter(order);
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[7] | 47 |
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[147] | 48 | if (T->Value() != 0) {
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[15] | 49 | f->setup(1. / T->Value(), cutoff->Value());
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[147] | 50 | }
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| 51 |
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[15] | 52 | f->reset();
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[7] | 53 |
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[15] | 54 | first_update = true;
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[147] | 55 | this->order=order;
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[7] | 56 | }
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| 57 |
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[15] | 58 | ButterworthLowPass_impl::~ButterworthLowPass_impl() { delete f; }
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[7] | 59 |
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[15] | 60 | void ButterworthLowPass_impl::UpdateFrom(const io_data *data) {
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| 61 | float result;
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| 62 | cvmatrix *input = (cvmatrix *)data;
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[147] | 63 | float delta_t;
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| 64 |
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| 65 | if (T->ValueChanged()) {
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[15] | 66 | if (T->Value() != 0) {
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| 67 | f->setup(1. / T->Value(), cutoff->Value());
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[147] | 68 | settingsChanged(input->Value(0, 0));
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[7] | 69 | }
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[15] | 70 | }
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[7] | 71 |
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[147] | 72 | if (T->Value() == 0) {
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| 73 | delta_t = (float)(data->DataTime() - previous_time) / 1000000000.;
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| 74 | f->setup(1. / delta_t, cutoff->Value());
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| 75 | } else {
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| 76 | delta_t=T->Value();
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| 77 | }
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| 78 |
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[15] | 79 | // on prend une fois pour toute les mutex et on fait des accès directs
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| 80 | output->GetMutex();
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| 81 | input->GetMutex();
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[7] | 82 |
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[147] | 83 | if (cutoff->ValueChanged()) {
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[15] | 84 | f->setup(1. / delta_t, cutoff->Value());
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[147] | 85 | settingsChanged(input->ValueNoMutex(0, 0));
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[15] | 86 | }
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[7] | 87 |
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[15] | 88 | if (first_update == true) {
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| 89 | first_update = false;
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| 90 | } else {
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| 91 | result = f->filter(input->ValueNoMutex(0, 0));
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| 92 | output->SetValueNoMutex(0, 0, result);
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| 93 | }
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[7] | 94 |
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[15] | 95 | input->ReleaseMutex();
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| 96 | output->ReleaseMutex();
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[7] | 97 |
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[15] | 98 | output->SetDataTime(data->DataTime());
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| 99 | previous_time = data->DataTime();
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[7] | 100 | }
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[147] | 101 |
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| 102 | //ne gere pas les oscillations (s'arrete des qu'une valeure est bonne a 5%)
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| 103 | void ButterworthLowPass_impl::settingsChanged(float inputValue) {
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| 104 | float result=f->filter(inputValue);
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| 105 |
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| 106 | while(result<inputValue*0.95 || result>inputValue*1.05) {
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| 107 | result=f->filter(inputValue);
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| 108 | }
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| 109 | } |
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