source: flair-src/trunk/lib/FlairSensorActuator/src/SimuCamera.cpp@ 238

Last change on this file since 238 was 238, checked in by Bayard Gildas, 4 years ago

correction sémaphore. bloquant tout ça...

File size: 2.5 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
32SimuCamera::SimuCamera(string name,
33 uint16_t width, uint16_t height, uint8_t channels,
34 uint32_t modelId,uint32_t deviceId, uint8_t priority)
35 : Thread(getFrameworkManager(), name, priority),
36 Camera(name, width, height, cvimage::Type::Format::BGR) {
37
38 buf_size = width * height * channels+sizeof(Time);
39
40 shmemReadBuf=(char*)malloc(buf_size);
41 output->img->imageData = shmemReadBuf;
42
43 ostringstream dev_name;
44 dev_name << "simu" << modelId << "_cam_" << deviceId;
45 shmem = new SharedMem((Thread *)this,ShMemName(modelId, deviceId), buf_size, SharedMem::Type::producerConsumer);
46
47 SetIsReady(true);
48}
49
50
51SimuCamera::~SimuCamera() {
52 SafeStop();
53 Join();
54 if(shmemReadBuf!=NULL) delete shmemReadBuf;
55}
56
57string SimuCamera::ShMemName(uint32_t modelId,uint32_t deviceId) {
58 ostringstream dev_name;
59 dev_name << "simu" << modelId << "_cam_" << deviceId;
60 return dev_name.str().c_str();
61}
62
63void SimuCamera::Run(void) {
64 Time time;
65// if (data_rate == NULL) {
66// Thread::Err("not applicable for simulation part.\n");
67// return;
68// }
69
70// SetPeriodUS((uint32_t)(1000000. / data_rate->Value()));
71 shmem->ReaderReady();
72
73 while (!ToBeStopped()) {
74// WaitPeriod();
75
76// if (data_rate->ValueChanged() == true) {
77// SetPeriodUS((uint32_t)(1000000. / data_rate->Value()));
78// }
79
80 output->GetMutex();
81 //blocking read
82 if (shmem->Read(shmemReadBuf, buf_size, 1000000000)) { // remplacer copie par
83 // échange de pointeur sur
84 // double buffering
85
86 output->ReleaseMutex();
87 memcpy(&time, shmemReadBuf + buf_size - sizeof(Time), sizeof(Time));
88 output->SetDataTime(time);
89
90 ProcessUpdate(output);
91 } else {
92 output->ReleaseMutex();
93 Thread::Warn("Read Timeout\n");
94 }
95 }
96}
97
98} // end namespace sensor
99} // end namespace flair
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