source: flair-src/trunk/lib/FlairFilter/src/ButterworthLowPass_impl.cpp@ 223

Last change on this file since 223 was 223, checked in by Sanahuja Guillaume, 4 years ago

add delta time to io_data

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 <Matrix.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(const 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 Matrix(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 this->order=order;
59 this->nbRow=nbRow;
60 this->nbCol=nbCol;
61 this->self=self;
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 float delta_t;
75 const Matrix* input = dynamic_cast<const Matrix*>(data);
76
77 if (!input) {
78 self->Warn("casting %s to Matrix failed\n",data->ObjectName().c_str());
79 return;
80 }
81
82 if (T->ValueChanged() && T->Value() != 0) {
83 for(uint32_t i=0;i<nbRow;i++) {
84 for(uint32_t j=0;j<nbCol;j++) {
85 f[i*nbCol+j]->setup(1. / T->Value(), cutoff->Value());
86 //settingsChanged(f[i*nbCol+j],input->Value(i, j));
87 }
88 }
89 }
90
91 if (T->Value() == 0) {
92 delta_t = (float)(data->DataDeltaTime()) / 1000000000.;
93 for(uint32_t i=0;i<nbRow;i++) {
94 for(uint32_t j=0;j<nbCol;j++) {
95 f[i*nbCol+j]->setup(1. / delta_t, cutoff->Value());
96 }
97 }
98 } else {
99 delta_t=T->Value();
100 }
101
102 // on prend une fois pour toute les mutex et on fait des accès directs
103 output->GetMutex();
104 input->GetMutex();
105
106 if (cutoff->ValueChanged()) {
107 for(uint32_t i=0;i<nbRow;i++) {
108 for(uint32_t j=0;j<nbCol;j++) {
109 f[i*nbCol+j]->setup(1. / delta_t, cutoff->Value());
110 //settingsChanged(f[i*nbCol+j],input->ValueNoMutex(i, j));
111 }
112 }
113 }
114
115 if (delta_t!=0) {
116 for(uint32_t i=0;i<nbRow;i++) {
117 for(uint32_t j=0;j<nbCol;j++) {
118 float result = f[i*nbCol+j]->filter(input->ValueNoMutex(i, j));
119 output->SetValueNoMutex(i, j, result);
120 }
121 }
122 }
123
124 input->ReleaseMutex();
125 output->ReleaseMutex();
126
127 output->SetDataTime(data->DataTime());
128}
129
130//ne gere pas les oscillations (s'arrete des qu'une valeure est bonne a 5%)
131void ButterworthLowPass_impl::settingsChanged(PoleFilter*f,float inputValue) {
132 float result=f->filter(inputValue);
133
134 while(result<inputValue*0.95 || result>inputValue*1.05) {
135 result=f->filter(inputValue);
136 }
137}
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