| 1 | // %flair:license{
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| 2 | // This file is part of the Flair framework distributed under the
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| 3 | // CECILL-C License, Version 1.0.
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| 4 | // %flair:license}
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| 5 | /*!
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| 6 | * \file SimuCamera.h
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| 7 | * \brief Class for a simulation camera
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| 8 | * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
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| 9 | * \date 2014/03/06
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| 10 | * \version 4.0
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| 11 | */
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| 12 |
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| 13 | #ifndef SIMUCAMERA_H
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| 14 | #define SIMUCAMERA_H
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| 15 |
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| 16 | #include <Camera.h>
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| 17 | #include <Thread.h>
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| 18 | #include <cxcore.h>
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| 19 |
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| 20 | namespace flair {
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| 21 | namespace core {
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| 22 | class SharedMem;
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| 23 | }
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| 24 | }
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| 25 |
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| 26 | namespace flair {
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| 27 | namespace sensor {
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| 28 | /*! \class SimuCamera
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| 29 | *
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| 30 | * \brief Class for a simulation camera
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| 31 | */
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| 32 | class SimuCamera : public core::Thread, public Camera {
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| 33 | public:
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| 34 | /*!
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| 35 | * \brief Constructor
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| 36 | *
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| 37 | * Construct a SimuCamera. Control part.
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| 38 | * It will be child of the FrameworkManager.
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| 39 | *
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| 40 | * \param name name
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| 41 | * \param width width
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| 42 | * \param height height
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| 43 | * \param channels number of channels
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| 44 | * \param modelId Model id
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| 45 | * \param deviceId Camera id of the Model
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| 46 | * \param priority priority of the Thread
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| 47 | */
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| 48 | SimuCamera(std::string name,
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| 49 | uint16_t width, uint16_t height, uint8_t channels, uint32_t modelId,uint32_t deviceId,
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| 50 | uint8_t priority);
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| 51 |
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| 52 | /*!
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| 53 | * \brief Constructor
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| 54 | *
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| 55 | * Construct a SimuCamera. Simulation part.\n
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| 56 | * The Thread of this class should not be run.
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| 57 | *
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| 58 | * \param parent parent
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| 59 | * \param name name
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| 60 | * \param width width
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| 61 | * \param height height
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| 62 | * \param channels number of channels
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| 63 | * \param modelId Model id
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| 64 | * \param deviceId Camera id of the Model
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| 65 | */
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| 66 | SimuCamera(const core::IODevice *parent, std::string name, uint16_t width,
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| 67 | uint16_t height, uint8_t channels, uint32_t modelId,uint32_t deviceId);
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| 68 |
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| 69 | /*!
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| 70 | * \brief Destructor
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| 71 | *
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| 72 | */
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| 73 | ~SimuCamera();
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| 74 |
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| 75 | protected:
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| 76 | /*!
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| 77 | * \brief SharedMem to access datas
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| 78 | *
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| 79 | */
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| 80 | core::SharedMem *shmem;
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| 81 |
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| 82 | private:
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| 83 | /*!
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| 84 | * \brief Run function
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| 85 | *
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| 86 | * Reimplemented from Thread.
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| 87 | *
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| 88 | */
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| 89 | void Run(void);
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| 90 |
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| 91 | /*!
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| 92 | * \brief Update using provided datas
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| 93 | *
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| 94 | * Reimplemented from IODevice.
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| 95 | *
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| 96 | * \param data data from the parent to process
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| 97 | */
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| 98 | void UpdateFrom(const core::io_data *data){};
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| 99 |
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| 100 | std::string ShMemName(uint32_t modelId,uint32_t deviceId);
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| 101 |
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| 102 | size_t buf_size;
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| 103 | char* shmemReadBuf;
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| 104 | };
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| 105 | } // end namespace sensor
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| 106 | } // end namespace flair
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| 107 | #endif // SIMUCAMERA_H
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