source: flair-src/trunk/lib/FlairSensorActuator/src/SimuCamera.cpp@ 9

// %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 <SpinBox.h>
#include <GroupBox.h>
#include <cvimage.h>
#include <SharedMem.h>
#include <sstream>

using std::string;
using std::ostringstream;
using namespace flair::core;
using namespace flair::gui;

namespace flair { namespace sensor {

SimuCamera::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) {
    data_rate=new SpinBox(GetGroupBox()->NewRow(),"data rate"," Hz",1,100,1,50);

    buf_size=width*height*channels;

    img=cvCreateImage(cvSize(width,height),IPL_DEPTH_8U,3);
    output->img->imageData=img->imageData;

    ostringstream dev_name;
    dev_name << "simu_cam_" << dev_id;
    shmem=new SharedMem((Thread*)this,dev_name.str().c_str(),buf_size);
}

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) {
    data_rate=NULL;

    ostringstream dev_name;
    dev_name << "simu_cam_" << dev_id;
    shmem=new SharedMem((Thread*)this,dev_name.str().c_str(),width*height*channels);
}

SimuCamera::~SimuCamera() {
    SafeStop();
    Join();
}

void SimuCamera::Run(void) {
    if(data_rate==NULL) {
        Thread::Err("not applicable for simulation part.\n");
        return;
    }

    SetPeriodUS((uint32_t)(1000000./data_rate->Value()));

    while(!ToBeStopped()) {
        WaitPeriod();

        if(data_rate->ValueChanged()==true) {
            SetPeriodUS((uint32_t)(1000000./data_rate->Value()));
        }

        output->GetMutex();
        shmem->Read((char*)img->imageData,buf_size); // remplacer copie par échange de pointeur sur double buffering
        output->ReleaseMutex();

        output->SetDataTime(GetTime());

        ProcessUpdate(output);
    }
}

} // end namespace sensor
} // end namespace flair