| 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 | /*!
|
|---|
| 6 | * \file SimuCamera.h
|
|---|
| 7 | * \brief Class for a simulation camera
|
|---|
| 8 | * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
|
|---|
| 9 | * \date 2014/03/06
|
|---|
| 10 | * \version 4.0
|
|---|
| 11 | */
|
|---|
| 12 |
|
|---|
| 13 | #ifndef SIMUCAMERA_H
|
|---|
| 14 | #define SIMUCAMERA_H
|
|---|
| 15 |
|
|---|
| 16 | #include <Camera.h>
|
|---|
| 17 | #include <Thread.h>
|
|---|
| 18 | #include <cxcore.h>
|
|---|
| 19 |
|
|---|
| 20 | namespace flair {
|
|---|
| 21 | namespace core {
|
|---|
| 22 | class SharedMem;
|
|---|
| 23 | }
|
|---|
| 24 | }
|
|---|
| 25 |
|
|---|
| 26 | namespace flair {
|
|---|
| 27 | namespace sensor {
|
|---|
| 28 | /*! \class SimuCamera
|
|---|
| 29 | *
|
|---|
| 30 | * \brief Class for a simulation camera
|
|---|
| 31 | */
|
|---|
| 32 | class SimuCamera : public core::Thread, public Camera {
|
|---|
| 33 | public:
|
|---|
| 34 | /*!
|
|---|
| 35 | * \brief Constructor
|
|---|
| 36 | *
|
|---|
| 37 | * Construct a SimuCamera. Control part.
|
|---|
| 38 | * It will be child of the FrameworkManager.
|
|---|
| 39 | *
|
|---|
| 40 | * \param name name
|
|---|
| 41 | * \param width width
|
|---|
| 42 | * \param height height
|
|---|
| 43 | * \param channels number of channels
|
|---|
| 44 | * \param dev_id device id
|
|---|
| 45 | * \param priority priority of the Thread
|
|---|
| 46 | */
|
|---|
| 47 | SimuCamera(std::string name,
|
|---|
| 48 | uint16_t width, uint16_t height, uint8_t channels, uint32_t dev_id,
|
|---|
| 49 | uint8_t priority);
|
|---|
| 50 |
|
|---|
| 51 | /*!
|
|---|
| 52 | * \brief Constructor
|
|---|
| 53 | *
|
|---|
| 54 | * Construct a SimuCamera. Simulation part.\n
|
|---|
| 55 | * The Thread of this class should not be run.
|
|---|
| 56 | *
|
|---|
| 57 | * \param parent parent
|
|---|
| 58 | * \param name name
|
|---|
| 59 | * \param width width
|
|---|
| 60 | * \param height height
|
|---|
| 61 | * \param channels number of channels
|
|---|
| 62 | * \param dev_id device id
|
|---|
| 63 | */
|
|---|
| 64 | SimuCamera(const core::IODevice *parent, std::string name, uint16_t width,
|
|---|
| 65 | uint16_t height, uint8_t channels, uint32_t dev_id);
|
|---|
| 66 |
|
|---|
| 67 | /*!
|
|---|
| 68 | * \brief Destructor
|
|---|
| 69 | *
|
|---|
| 70 | */
|
|---|
| 71 | ~SimuCamera();
|
|---|
| 72 |
|
|---|
| 73 | protected:
|
|---|
| 74 | /*!
|
|---|
| 75 | * \brief SharedMem to access datas
|
|---|
| 76 | *
|
|---|
| 77 | */
|
|---|
| 78 | core::SharedMem *shmem;
|
|---|
| 79 |
|
|---|
| 80 | private:
|
|---|
| 81 | /*!
|
|---|
| 82 | * \brief Run function
|
|---|
| 83 | *
|
|---|
| 84 | * Reimplemented from Thread.
|
|---|
| 85 | *
|
|---|
| 86 | */
|
|---|
| 87 | void Run(void);
|
|---|
| 88 |
|
|---|
| 89 | /*!
|
|---|
| 90 | * \brief Update using provided datas
|
|---|
| 91 | *
|
|---|
| 92 | * Reimplemented from IODevice.
|
|---|
| 93 | *
|
|---|
| 94 | * \param data data from the parent to process
|
|---|
| 95 | */
|
|---|
| 96 | void UpdateFrom(const core::io_data *data){};
|
|---|
| 97 |
|
|---|
| 98 | size_t buf_size;
|
|---|
| 99 | char* shmemReadBuf;
|
|---|
| 100 | };
|
|---|
| 101 | } // end namespace sensor
|
|---|
| 102 | } // end namespace flair
|
|---|
| 103 | #endif // SIMUCAMERA_H
|
|---|
