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