source: flair-src/trunk/lib/FlairIpc/src/IpcUs.cpp@ 415

Last change on this file since 415 was 397, checked in by Sanahuja Guillaume, 18 months ago

add ipc lib

  • Property svn:eol-style set to native
File size: 2.8 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: 2021/03/03
6// filename: IpcUs.cpp
7//
8// author: Sébastien Ambroziak
9// Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11// version: $Id: $
12//
13// purpose: Class for an ipc us
14//
15//
16/*********************************************************************/
17
18#include "IpcUs.h"
19#include "ipc_receive.h"
20#include "shm_receive.h"
21#include <FrameworkManager.h>
22#include <SpinBox.h>
23#include <GroupBox.h>
24#include <Matrix.h>
25
26using namespace flair::core;
27using namespace flair::gui;
28
29namespace flair {
30namespace sensor {
31
32IpcUs::IpcUs(string name, uint8_t priority, const char* ipc_name, int ipc_channel)
33 : Thread(getFrameworkManager(), name, priority), UsRangeFinder( name) {
34 data_rate =
35 new SpinBox(GetGroupBox()->NewRow(), "data rate", " Hz", 1, 500, 1, 50);
36
37 //init non blocking ipc receiver
38 receiver = new ShmReceiver<float>(ipc_name,ipc_channel,true);
39
40 SetIsReady(true);
41}
42
43IpcUs::~IpcUs() {
44 SafeStop();
45 Join();
46}
47
48
49void IpcUs::Run(void) {
50
51 SetPeriodUS((uint32_t)(1000000. / data_rate->Value()));
52 Time stamp;
53 Time lastT = GetTime();
54 while (!ToBeStopped()) {
55 WaitPeriod();
56
57 receiver->receive();
58
59 stamp = GetTime();
60
61 //SetPeriodUS((receiver->getTimestamp().toNanosec() - Last)/1000);
62
63
64
65 if (data_rate->ValueChanged() == true) {
66 SetPeriodUS((uint32_t)(1000000. / data_rate->Value()));
67 }
68
69 //output->SetDataTime((Time)receiver->getTimestamp().toNanosec());
70 /*if (lastT < receiver->getTimestamp().toNanosec()){
71 output->SetValue(0, 0, receiver->getValue());
72 output->SetDataTime(receiver->getTimestamp().toNanosec());
73 //cout << "lastT: " << receiver->getTimestamp().toNanosec() << " ecart: " << receiver->getTimestamp().toNanosec() - lastT << endl;
74 lastT = receiver->getTimestamp().toNanosec();
75 }
76
77 else{
78 output->SetValue(0, 0, receiver->getValue());
79 output->SetDataTime(lastT + GetPeriodUS()*1000);
80 //cout << "stamp: " << lastT + GetPeriodUS() << ' ' << " \tecart: " << stamp - lastT << endl;
81 lastT = lastT + GetPeriodUS()*1000;
82 }*/
83
84 /*if (receiver->getValue() >= 0){
85 output->SetValue(0, 0, (receiver->getValue())/100.0);
86 }
87 else
88 {
89 output->SetValue(0,0,0);
90 }*/
91
92 output->SetValue(0, 0, (receiver->getValue())/100.0);
93 output->SetDataTime(stamp);
94 //output->SetDataTime(receiver->getTimestamp().toNanosec());
95
96 //cout << receiver->getTimestamp().toNanosec() << ' ' << receiver->getValue() << endl;
97 ProcessUpdate(output);
98 //cout << "GetTime: " << stamp << " ipc: " << receiver->getTimestamp().toNanosec() << " écart: " << stamp - receiver->getTimestamp().toNanosec() << endl;
99 }
100}
101
102} // end namespace sensor
103} // end namespace flair
104
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