source: flair-src/trunk/lib/FlairSensorActuator/src/SimuCamera.cpp @ 10

Last change on this file since 10 was 3, checked in by Sanahuja Guillaume, 6 years ago

sensoractuator

File size: 2.4 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:    2014/03/06
6//  filename:   SimuCamera.cpp
7//
8//  author:     Guillaume Sanahuja
9//              Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11//  version:    $Id: $
12//
13//  purpose:    Class for a simulation camera
14//
15//
16/*********************************************************************/
17
18#include "SimuCamera.h"
19#include <FrameworkManager.h>
20#include <SpinBox.h>
21#include <GroupBox.h>
22#include <cvimage.h>
23#include <SharedMem.h>
24#include <sstream>
25
26using std::string;
27using std::ostringstream;
28using namespace flair::core;
29using namespace flair::gui;
30
31namespace flair { namespace sensor {
32
33SimuCamera::SimuCamera(const FrameworkManager* parent,string name,uint16_t width,uint16_t height,uint8_t channels,uint32_t dev_id,uint8_t priority) :Thread(parent,name,priority),Camera(parent,name,width,height,cvimage::Type::Format::BGR) {
34    data_rate=new SpinBox(GetGroupBox()->NewRow(),"data rate"," Hz",1,100,1,50);
35
36    buf_size=width*height*channels;
37
38    img=cvCreateImage(cvSize(width,height),IPL_DEPTH_8U,3);
39    output->img->imageData=img->imageData;
40
41    ostringstream dev_name;
42    dev_name << "simu_cam_" << dev_id;
43    shmem=new SharedMem((Thread*)this,dev_name.str().c_str(),buf_size);
44}
45
46SimuCamera::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) {
47    data_rate=NULL;
48
49    ostringstream dev_name;
50    dev_name << "simu_cam_" << dev_id;
51    shmem=new SharedMem((Thread*)this,dev_name.str().c_str(),width*height*channels);
52}
53
54SimuCamera::~SimuCamera() {
55    SafeStop();
56    Join();
57}
58
59void SimuCamera::Run(void) {
60    if(data_rate==NULL) {
61        Thread::Err("not applicable for simulation part.\n");
62        return;
63    }
64
65    SetPeriodUS((uint32_t)(1000000./data_rate->Value()));
66
67    while(!ToBeStopped()) {
68        WaitPeriod();
69
70        if(data_rate->ValueChanged()==true) {
71            SetPeriodUS((uint32_t)(1000000./data_rate->Value()));
72        }
73
74        output->GetMutex();
75        shmem->Read((char*)img->imageData,buf_size); // remplacer copie par échange de pointeur sur double buffering
76        output->ReleaseMutex();
77
78        output->SetDataTime(GetTime());
79
80        ProcessUpdate(output);
81    }
82}
83
84} // end namespace sensor
85} // end namespace flair
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