[3] | 1 | // %flair:license{
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[15] | 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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[3] | 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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[15] | 33 | namespace flair {
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| 34 | namespace sensor {
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[3] | 35 |
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[202] | 36 | //Construct a SimuImu. Control part.
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[158] | 37 | SimuImu::SimuImu(string name, uint32_t modelId,uint32_t deviceId,
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[15] | 38 | uint8_t priority)
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[198] | 39 | : Imu(name,false), Thread(getFrameworkManager(), name, priority) {
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[55] | 40 | dataRate =
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[15] | 41 | new SpinBox(GetGroupBox()->NewRow(), "data rate", " Hz", 1, 500, 1, 200);
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| 42 | ahrsData = new AhrsData((Imu *)this);
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[158] | 43 |
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| 44 | shmem = new SharedMem((Thread *)this, ShMemName(modelId, deviceId),
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[15] | 45 | sizeof(imu_states_t));
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[157] | 46 | SetIsReady(true);
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[3] | 47 | }
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| 48 |
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[202] | 49 | //Construct a SimuImu. Simulation part.
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[158] | 50 | SimuImu::SimuImu(const IODevice *parent, string name, uint32_t modelId,uint32_t deviceId)
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[137] | 51 | : Imu(parent,name), Thread(parent, name, 0) {
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[55] | 52 | dataRate = NULL;
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[3] | 53 |
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[158] | 54 | shmem = new SharedMem((Thread *)this, ShMemName(modelId, deviceId),
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[15] | 55 | sizeof(imu_states_t));
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[157] | 56 | SetIsReady(true);
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[3] | 57 | }
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| 58 |
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| 59 | SimuImu::~SimuImu() {
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[15] | 60 | SafeStop();
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| 61 | Join();
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[3] | 62 | }
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| 63 |
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[158] | 64 | string SimuImu::ShMemName(uint32_t modelId,uint32_t deviceId) {
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| 65 | ostringstream dev_name;
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| 66 | dev_name << "simu" << modelId << "_imu_" << deviceId;
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| 67 | return dev_name.str().c_str();
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| 68 | }
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| 69 |
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[3] | 70 | void SimuImu::UpdateFrom(const io_data *data) {
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[15] | 71 | if (data != NULL) {
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| 72 | cvmatrix *input = (cvmatrix *)data;
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| 73 | imu_states_t state;
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[3] | 74 |
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[15] | 75 | input->GetMutex();
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| 76 | state.q0 = input->ValueNoMutex(0, 0);
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| 77 | state.q1 = input->ValueNoMutex(1, 0);
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| 78 | state.q2 = input->ValueNoMutex(2, 0);
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| 79 | state.q3 = input->ValueNoMutex(3, 0);
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| 80 | state.wx = input->ValueNoMutex(7, 0);
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| 81 | state.wy = input->ValueNoMutex(8, 0);
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| 82 | state.wz = input->ValueNoMutex(9, 0);
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[186] | 83 | state.ax = input->ValueNoMutex(13, 0);
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| 84 | state.ay = input->ValueNoMutex(14, 0);
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| 85 | state.az = input->ValueNoMutex(15, 0);
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| 86 | state.mx = input->ValueNoMutex(16, 0);
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| 87 | state.my = input->ValueNoMutex(17, 0);
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| 88 | state.mz = input->ValueNoMutex(18, 0);
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[15] | 89 | input->ReleaseMutex();
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[3] | 90 |
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[15] | 91 | shmem->Write((char *)&state, sizeof(imu_states_t));
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| 92 | }
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[3] | 93 | }
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| 94 |
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| 95 | void SimuImu::Run(void) {
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[15] | 96 | imu_states_t state;
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| 97 | ImuData *imuData;
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| 98 | GetDatas(&imuData);
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[3] | 99 |
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[55] | 100 | if (dataRate == NULL) {
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[15] | 101 | Thread::Err("not applicable for simulation part.\n");
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| 102 | return;
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| 103 | }
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[3] | 104 |
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[55] | 105 | SetPeriodUS((uint32_t)(1000000. / dataRate->Value()));
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[3] | 106 |
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[15] | 107 | while (!ToBeStopped()) {
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| 108 | WaitPeriod();
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[3] | 109 |
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[55] | 110 | if (dataRate->ValueChanged() == true) {
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| 111 | SetPeriodUS((uint32_t)(1000000. / dataRate->Value()));
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[15] | 112 | }
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| 113 | shmem->Read((char *)&state, sizeof(imu_states_t));
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[202] | 114 | Quaternion quaternion(state.q0, state.q1, state.q2, state.q3);
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[173] | 115 | Vector3Df angRate(state.wx, state.wy, state.wz);
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[186] | 116 | Vector3Df rawAcc(state.ax, state.ay, state.az);
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| 117 | Vector3Df rawMag(state.mx, state.my, state.mz);
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| 118 | Vector3Df rawGyr(state.wx, state.wy, state.wz);
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[198] | 119 | //we do not need rotation in simulation
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| 120 | /*
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[173] | 121 | ApplyRotation(angRate);
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| 122 | ApplyRotation(quaternion);
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[186] | 123 | ApplyRotation(rawAcc);
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| 124 | ApplyRotation(rawMag);
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[198] | 125 | ApplyRotation(rawGyr);*/
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[173] | 126 | ahrsData->SetQuaternionAndAngularRates(quaternion,angRate);
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[186] | 127 | imuData->SetRawAccMagAndGyr(rawAcc,rawMag,rawGyr);
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[15] | 128 | imuData->SetDataTime(GetTime());
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| 129 | ahrsData->SetDataTime(GetTime());
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| 130 | ProcessUpdate(ahrsData);
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| 131 | }
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[3] | 132 | }
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| 133 |
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| 134 | } // end namespace sensor
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| 135 | } // end namespace flair
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