source: flair-src/trunk/lib/FlairFilter/src/ButterworthLowPass_impl.cpp@ 162

Last change on this file since 162 was 162, checked in by Sanahuja Guillaume, 5 years ago

modifs pb crash fin simulateur

File size: 3.8 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: 2013/12/10
6// filename: ButterworthLowPass_impl.cpp
7//
8// author: Guillaume Sanahuja
9// Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11// version: $Id: $
12//
13// purpose: objet permettant le calcul d'un filtre passe bas de Butterworth
14//
15//
16/*********************************************************************/
17
18#include "ButterworthLowPass_impl.h"
19#include "ButterworthLowPass.h"
20#include <cvmatrix.h>
21#include <Layout.h>
22#include <GroupBox.h>
23#include <SpinBox.h>
24#include <DoubleSpinBox.h>
25
26using std::string;
27using namespace flair::core;
28using namespace flair::gui;
29using namespace flair::filter;
30
31ButterworthLowPass_impl::ButterworthLowPass_impl(ButterworthLowPass *self,
32 const LayoutPosition *position,
33 string name, uint32_t order,uint32_t nbRow,uint32_t nbCol) {
34 // init UI
35 GroupBox *reglages_groupbox = new GroupBox(position, name);
36 T = new DoubleSpinBox(reglages_groupbox->NewRow(), "period, 0 for auto", " s",
37 0, 10, 0.01);
38 cutoff = new DoubleSpinBox(reglages_groupbox->NewRow(), "cutoff frequency",
39 " Hz", 0, 10000, 0.1, 2, 1);
40
41 cvmatrix_descriptor *desc = new cvmatrix_descriptor(nbRow, nbCol);
42 //desc->SetElementName(0, 0, "output");
43 output = new cvmatrix(self, desc, floatType, name);
44 delete desc;
45
46 f=(PoleFilter**)malloc(sizeof(PoleFilter*)*nbRow*nbCol);
47
48 for(uint32_t i=0;i<nbRow;i++) {
49 for(uint32_t j=0;j<nbCol;j++) {
50 f[i*nbCol+j] = new PoleFilter(order);
51 if (T->Value() != 0) {
52 f[i*nbCol+j]->setup(1. / T->Value(), cutoff->Value());
53 }
54 f[i*nbCol+j]->reset();
55 }
56 }
57
58 first_update = true;
59 this->order=order;
60 this->nbRow=nbRow;
61 this->nbCol=nbCol;
62}
63
64ButterworthLowPass_impl::~ButterworthLowPass_impl() {
65 for(uint32_t i=0;i<nbRow;i++) {
66 for(uint32_t j=0;j<nbCol;j++) {
67 delete f[i*nbCol+j];
68 }
69 }
70 free(f);
71}
72
73void ButterworthLowPass_impl::UpdateFrom(const io_data *data) {
74 cvmatrix *input = (cvmatrix *)data;
75 float delta_t;
76
77 if (T->ValueChanged() && T->Value() != 0) {
78 for(uint32_t i=0;i<nbRow;i++) {
79 for(uint32_t j=0;j<nbCol;j++) {
80 f[i*nbCol+j]->setup(1. / T->Value(), cutoff->Value());
81 settingsChanged(f[i*nbCol+j],input->Value(i, j));
82 }
83 }
84 }
85
86 if (T->Value() == 0) {
87 delta_t = (float)(data->DataTime() - previous_time) / 1000000000.;
88 for(uint32_t i=0;i<nbRow;i++) {
89 for(uint32_t j=0;j<nbCol;j++) {
90 f[i*nbCol+j]->setup(1. / delta_t, cutoff->Value());
91 }
92 }
93 } else {
94 delta_t=T->Value();
95 }
96
97 // on prend une fois pour toute les mutex et on fait des accès directs
98 output->GetMutex();
99 input->GetMutex();
100
101 if (cutoff->ValueChanged()) {
102 for(uint32_t i=0;i<nbRow;i++) {
103 for(uint32_t j=0;j<nbCol;j++) {
104 f[i*nbCol+j]->setup(1. / delta_t, cutoff->Value());
105 settingsChanged(f[i*nbCol+j],input->ValueNoMutex(i, j));
106 }
107 }
108 }
109
110 if (first_update == true) {
111 first_update = false;
112 } else {
113 for(uint32_t i=0;i<nbRow;i++) {
114 for(uint32_t j=0;j<nbCol;j++) {
115 float result = f[i*nbCol+j]->filter(input->ValueNoMutex(i, j));
116 output->SetValueNoMutex(i, j, result);
117 }
118 }
119 }
120
121 input->ReleaseMutex();
122 output->ReleaseMutex();
123
124 output->SetDataTime(data->DataTime());
125 previous_time = data->DataTime();
126}
127
128//ne gere pas les oscillations (s'arrete des qu'une valeure est bonne a 5%)
129void ButterworthLowPass_impl::settingsChanged(PoleFilter*f,float inputValue) {
130 float result=f->filter(inputValue);
131
132 while(result<inputValue*0.95 || result>inputValue*1.05) {
133 result=f->filter(inputValue);
134 }
135}
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