source: flair-src/trunk/lib/FlairSensorActuator/src/SimuCamera.cpp @ 102

Last change on this file since 102 was 15, checked in by Bayard Gildas, 6 years ago

sources reformatted with flair-format-dir script

File size: 2.6 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 {
32namespace sensor {
33
34SimuCamera::SimuCamera(const FrameworkManager *parent, string name,
35                       uint16_t width, uint16_t height, uint8_t channels,
36                       uint32_t dev_id, uint8_t priority)
37    : Thread(parent, name, priority),
38      Camera(parent, name, width, height, cvimage::Type::Format::BGR) {
39  data_rate =
40      new SpinBox(GetGroupBox()->NewRow(), "data rate", " Hz", 1, 100, 1, 50);
41
42  buf_size = width * height * channels;
43
44  img = cvCreateImage(cvSize(width, height), IPL_DEPTH_8U, 3);
45  output->img->imageData = img->imageData;
46
47  ostringstream dev_name;
48  dev_name << "simu_cam_" << dev_id;
49  shmem = new SharedMem((Thread *)this, dev_name.str().c_str(), buf_size);
50}
51
52SimuCamera::SimuCamera(const IODevice *parent, string name, uint16_t width,
53                       uint16_t height, uint8_t channels, uint32_t dev_id)
54    : Thread(parent, name, 0), Camera(parent, name) {
55  data_rate = NULL;
56
57  ostringstream dev_name;
58  dev_name << "simu_cam_" << dev_id;
59  shmem = new SharedMem((Thread *)this, dev_name.str().c_str(),
60                        width * height * channels);
61}
62
63SimuCamera::~SimuCamera() {
64  SafeStop();
65  Join();
66}
67
68void SimuCamera::Run(void) {
69  if (data_rate == NULL) {
70    Thread::Err("not applicable for simulation part.\n");
71    return;
72  }
73
74  SetPeriodUS((uint32_t)(1000000. / data_rate->Value()));
75
76  while (!ToBeStopped()) {
77    WaitPeriod();
78
79    if (data_rate->ValueChanged() == true) {
80      SetPeriodUS((uint32_t)(1000000. / data_rate->Value()));
81    }
82
83    output->GetMutex();
84    shmem->Read((char *)img->imageData, buf_size); // remplacer copie par
85                                                   // échange de pointeur sur
86                                                   // double buffering
87    output->ReleaseMutex();
88
89    output->SetDataTime(GetTime());
90
91    ProcessUpdate(output);
92  }
93}
94
95} // end namespace sensor
96} // end namespace flair
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