source: flair-src/trunk/lib/FlairSensorActuator/src/SimuCamera.cpp@ 151

// %flair:license{

// This file is part of the Flair framework distributed under the

// CECILL-C License, Version 1.0.

// %flair:license}

//  created:    2014/03/06

//  filename:   SimuCamera.cpp

//

//  author:     Guillaume Sanahuja

//              Copyright Heudiasyc UMR UTC/CNRS 7253

//

//  version:    $Id: $

//

//  purpose:    Class for a simulation camera

//

//

/*********************************************************************/



#include "SimuCamera.h"

#include <FrameworkManager.h>

#include <GroupBox.h>

#include <SharedMem.h>

#include <sstream>



using std::string;

using std::ostringstream;

using namespace flair::core;

using namespace flair::gui;



namespace flair {

namespace sensor {



//control part

SimuCamera::SimuCamera(string name,

                       uint16_t width, uint16_t height, uint8_t channels,

                       uint32_t dev_id, uint8_t priority)

    : Thread(getFrameworkManager(), name, priority),

      Camera(name, width, height, cvimage::Type::Format::BGR) {



  buf_size = width * height * channels+sizeof(Time);



  shmemReadBuf=(char*)malloc(buf_size);

  output->img->imageData = shmemReadBuf;



  ostringstream dev_name;

  dev_name << "simu_cam_" << dev_id;

  shmem = new SharedMem((Thread *)this, dev_name.str().c_str(), buf_size, SharedMem::Type::producerConsumer);

}



//simulation part

SimuCamera::SimuCamera(const IODevice *parent, string name, uint16_t width,

                       uint16_t height, uint8_t channels, uint32_t dev_id)

    : Thread(parent, name, 0), Camera(parent,name) {



  buf_size = width * height * channels+sizeof(Time);

  

  ostringstream dev_name;

  dev_name << "simu_cam_" << dev_id;

  shmem = new SharedMem((Thread *)this, dev_name.str().c_str(),

                        buf_size, SharedMem::Type::producerConsumer);

  shmemReadBuf=NULL;

}



SimuCamera::~SimuCamera() {

  SafeStop();

  Join();

  if(shmemReadBuf!=NULL) delete shmemReadBuf;

}



void SimuCamera::Run(void) {

  Time time;

//  if (data_rate == NULL) {

//    Thread::Err("not applicable for simulation part.\n");

//    return;

//  }



//  SetPeriodUS((uint32_t)(1000000. / data_rate->Value()));

  shmem->ReaderReady();



  while (!ToBeStopped()) {

//    WaitPeriod();



//    if (data_rate->ValueChanged() == true) {

//      SetPeriodUS((uint32_t)(1000000. / data_rate->Value()));

//    }



    output->GetMutex();

    //blocking read

    shmem->Read(shmemReadBuf, buf_size); // remplacer copie par

                                                   // échange de pointeur sur

                                                   // double buffering

    output->ReleaseMutex();

    memcpy(&time,shmemReadBuf+buf_size-sizeof(Time),sizeof(Time));

    output->SetDataTime(time);



    ProcessUpdate(output);

  }

}



} // end namespace sensor

} // end namespace flair