[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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[15] | 36 | SimuImu::SimuImu(const FrameworkManager *parent, string name, uint32_t dev_id,
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| 37 | uint8_t priority)
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| 38 | : Imu(parent, name), Thread(parent, name, priority) {
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[55] | 39 | dataRate =
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[15] | 40 | new SpinBox(GetGroupBox()->NewRow(), "data rate", " Hz", 1, 500, 1, 200);
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| 41 | ahrsData = new AhrsData((Imu *)this);
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[3] | 42 |
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[15] | 43 | ostringstream dev_name;
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| 44 | dev_name << "simu_imu_" << dev_id;
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| 45 | shmem = new SharedMem((Thread *)this, dev_name.str().c_str(),
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| 46 | sizeof(imu_states_t));
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[3] | 47 | }
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| 48 |
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[15] | 49 | SimuImu::SimuImu(const IODevice *parent, string name, uint32_t dev_id)
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| 50 | : Imu(parent, name), Thread(parent, name, 0) {
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[55] | 51 | dataRate = NULL;
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[3] | 52 |
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[15] | 53 | ostringstream dev_name;
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| 54 | dev_name << "simu_imu_" << dev_id;
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| 55 | shmem = new SharedMem((Thread *)this, dev_name.str().c_str(),
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| 56 | sizeof(imu_states_t));
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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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| 64 | void SimuImu::UpdateFrom(const io_data *data) {
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[15] | 65 | if (data != NULL) {
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| 66 | cvmatrix *input = (cvmatrix *)data;
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| 67 | imu_states_t state;
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[3] | 68 |
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[15] | 69 | input->GetMutex();
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| 70 | state.q0 = input->ValueNoMutex(0, 0);
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| 71 | state.q1 = input->ValueNoMutex(1, 0);
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| 72 | state.q2 = input->ValueNoMutex(2, 0);
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| 73 | state.q3 = input->ValueNoMutex(3, 0);
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| 74 | state.wx = input->ValueNoMutex(7, 0);
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| 75 | state.wy = input->ValueNoMutex(8, 0);
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| 76 | state.wz = input->ValueNoMutex(9, 0);
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| 77 | input->ReleaseMutex();
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[3] | 78 |
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[15] | 79 | shmem->Write((char *)&state, sizeof(imu_states_t));
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| 80 | }
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[3] | 81 | }
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| 82 |
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| 83 | void SimuImu::Run(void) {
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[15] | 84 | imu_states_t state;
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| 85 | ImuData *imuData;
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| 86 | GetDatas(&imuData);
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[3] | 87 |
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[55] | 88 | if (dataRate == NULL) {
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[15] | 89 | Thread::Err("not applicable for simulation part.\n");
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| 90 | return;
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| 91 | }
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[3] | 92 |
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[55] | 93 | SetPeriodUS((uint32_t)(1000000. / dataRate->Value()));
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[3] | 94 |
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[15] | 95 | while (!ToBeStopped()) {
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| 96 | WaitPeriod();
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[3] | 97 |
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[55] | 98 | if (dataRate->ValueChanged() == true) {
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| 99 | SetPeriodUS((uint32_t)(1000000. / dataRate->Value()));
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[15] | 100 | }
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[3] | 101 |
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[15] | 102 | shmem->Read((char *)&state, sizeof(imu_states_t));
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| 103 | ahrsData->SetQuaternionAndAngularRates(
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| 104 | Quaternion(state.q0, state.q1, state.q2, state.q3),
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| 105 | Vector3D(state.wx, state.wy, state.wz));
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[3] | 106 |
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[15] | 107 | imuData->SetDataTime(GetTime());
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| 108 | ahrsData->SetDataTime(GetTime());
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[3] | 109 |
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[15] | 110 | UpdateImu();
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| 111 | ProcessUpdate(ahrsData);
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| 112 | }
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[3] | 113 | }
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| 114 |
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| 115 | } // end namespace sensor
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| 116 | } // end namespace flair
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