source: flair-src/trunk/lib/FlairSensorActuator/src/SimuCamera.cpp@ 155

// %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