| 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 | // created: 2014/02/07
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| 6 | // filename: SimuImu.cpp
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| 7 | //
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| 8 | // author: Guillaume Sanahuja
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| 9 | // Copyright Heudiasyc UMR UTC/CNRS 7253
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| 10 | //
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| 11 | // version: $Id: $
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| 12 | //
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| 13 | // purpose: Class for a simulation imu
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| 14 | //
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| 15 | //
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| 16 | /*********************************************************************/
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| 17 |
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| 18 | #include "SimuImu.h"
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| 19 | #include <FrameworkManager.h>
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| 20 | #include <ImuData.h>
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| 21 | #include <SpinBox.h>
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| 22 | #include <GroupBox.h>
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| 23 | #include <cvmatrix.h>
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| 24 | #include <SharedMem.h>
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| 25 | #include <AhrsData.h>
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| 26 | #include <sstream>
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| 27 |
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| 28 | using std::string;
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| 29 | using std::ostringstream;
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| 30 | using namespace flair::core;
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| 31 | using namespace flair::gui;
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| 32 |
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| 33 | namespace flair { namespace sensor {
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| 34 |
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| 35 | SimuImu::SimuImu(const FrameworkManager* parent,string name,uint32_t dev_id,uint8_t priority) :Imu(parent,name),Thread(parent,name,priority) {
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| 36 | data_rate=new SpinBox(GetGroupBox()->NewRow(),"data rate"," Hz",1,500,1,200);
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| 37 | ahrsData=new AhrsData((Imu*)this);
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| 38 |
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| 39 | ostringstream dev_name;
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| 40 | dev_name << "simu_imu_" << dev_id;
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| 41 | shmem=new SharedMem((Thread*)this,dev_name.str().c_str(),sizeof(imu_states_t));
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| 42 | }
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| 43 |
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| 44 | SimuImu::SimuImu(const IODevice* parent,string name,uint32_t dev_id) :Imu(parent,name),Thread(parent,name,0) {
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| 45 | data_rate=NULL;
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| 46 |
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| 47 | ostringstream dev_name;
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| 48 | dev_name << "simu_imu_" << dev_id;
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| 49 | shmem=new SharedMem((Thread*)this,dev_name.str().c_str(),sizeof(imu_states_t));
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| 50 | }
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| 51 |
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| 52 | SimuImu::~SimuImu() {
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| 53 | SafeStop();
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| 54 | Join();
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| 55 | }
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| 56 |
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| 57 | void SimuImu::UpdateFrom(const io_data *data) {
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| 58 | if(data!=NULL) {
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| 59 | cvmatrix *input=(cvmatrix*)data;
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| 60 | imu_states_t state;
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| 61 |
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| 62 | input->GetMutex();
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| 63 | state.q0=input->ValueNoMutex(0,0);
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| 64 | state.q1=input->ValueNoMutex(1,0);
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| 65 | state.q2=input->ValueNoMutex(2,0);
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| 66 | state.q3=input->ValueNoMutex(3,0);
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| 67 | state.wx=input->ValueNoMutex(7,0);
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| 68 | state.wy=input->ValueNoMutex(8,0);
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| 69 | state.wz=input->ValueNoMutex(9,0);
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| 70 | input->ReleaseMutex();
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| 71 |
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| 72 | shmem->Write((char*)&state,sizeof(imu_states_t));
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| 73 | }
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| 74 | }
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| 75 |
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| 76 | void SimuImu::Run(void) {
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| 77 | imu_states_t state;
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| 78 | ImuData* imuData;
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| 79 | GetDatas(&imuData);
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| 80 |
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| 81 | if(data_rate==NULL) {
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| 82 | Thread::Err("not applicable for simulation part.\n");
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| 83 | return;
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| 84 | }
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| 85 |
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| 86 | SetPeriodUS((uint32_t)(1000000./data_rate->Value()));
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| 87 |
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| 88 | while(!ToBeStopped()) {
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| 89 | WaitPeriod();
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| 90 |
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| 91 | if(data_rate->ValueChanged()==true) {
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| 92 | SetPeriodUS((uint32_t)(1000000./data_rate->Value()));
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| 93 | }
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| 94 |
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| 95 | shmem->Read((char*)&state,sizeof(imu_states_t));
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| 96 | ahrsData->SetQuaternionAndAngularRates(Quaternion(state.q0,state.q1,state.q2,state.q3)
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| 97 | ,Vector3D(state.wx,state.wy,state.wz));
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| 98 |
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| 99 | imuData->SetDataTime(GetTime());
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| 100 | ahrsData->SetDataTime(GetTime());
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| 101 |
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| 102 | UpdateImu();
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| 103 | ProcessUpdate(ahrsData);
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| 104 | }
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| 105 | }
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| 106 |
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| 107 | } // end namespace sensor
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| 108 | } // end namespace flair
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