source: flair-src/trunk/lib/FlairSensorActuator/src/SimuCamera.cpp @ 157

Last change on this file since 157 was 157, checked in by Sanahuja Guillaume, 4 years ago

iadded isready to iodevice:
avoid problem of imu not ready in ardrone2

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:    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 <GroupBox.h>
21#include <SharedMem.h>
22#include <sstream>
23
24using std::string;
25using std::ostringstream;
26using namespace flair::core;
27using namespace flair::gui;
28
29namespace flair {
30namespace sensor {
31
32//control part
33SimuCamera::SimuCamera(string name,
34                       uint16_t width, uint16_t height, uint8_t channels,
35                       uint32_t dev_id, uint8_t priority)
36    : Thread(getFrameworkManager(), name, priority),
37      Camera(name, width, height, cvimage::Type::Format::BGR) {
38
39  buf_size = width * height * channels+sizeof(Time);
40
41  shmemReadBuf=(char*)malloc(buf_size);
42  output->img->imageData = shmemReadBuf;
43
44  ostringstream dev_name;
45  dev_name << "simu_cam_" << dev_id;
46  shmem = new SharedMem((Thread *)this, dev_name.str().c_str(), buf_size, SharedMem::Type::producerConsumer);
47 
48  SetIsReady(true);
49}
50
51//simulation part
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
56  buf_size = width * height * channels+sizeof(Time);
57 
58  ostringstream dev_name;
59  dev_name << "simu_cam_" << dev_id;
60  shmem = new SharedMem((Thread *)this, dev_name.str().c_str(),
61                        buf_size, SharedMem::Type::producerConsumer);
62  shmemReadBuf=NULL;
63 
64  SetIsReady(true);
65}
66
67SimuCamera::~SimuCamera() {
68  SafeStop();
69  Join();
70  if(shmemReadBuf!=NULL) delete shmemReadBuf;
71}
72
73void SimuCamera::Run(void) {
74  Time time;
75//  if (data_rate == NULL) {
76//    Thread::Err("not applicable for simulation part.\n");
77//    return;
78//  }
79
80//  SetPeriodUS((uint32_t)(1000000. / data_rate->Value()));
81  shmem->ReaderReady();
82
83  while (!ToBeStopped()) {
84//    WaitPeriod();
85
86//    if (data_rate->ValueChanged() == true) {
87//      SetPeriodUS((uint32_t)(1000000. / data_rate->Value()));
88//    }
89
90    output->GetMutex();
91    //blocking read
92    shmem->Read(shmemReadBuf, buf_size); // remplacer copie par
93                                                   // échange de pointeur sur
94                                                   // double buffering
95    output->ReleaseMutex();
96    memcpy(&time,shmemReadBuf+buf_size-sizeof(Time),sizeof(Time));
97    output->SetDataTime(time);
98
99    ProcessUpdate(output);
100  }
101}
102
103} // end namespace sensor
104} // end namespace flair
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