source: flair-src/trunk/lib/FlairSensorActuator/src/SimuImu.cpp @ 164

Last change on this file since 164 was 158, checked in by Sanahuja Guillaume, 5 years ago

corrected simu/device id for sensors

File size: 3.0 KB
Line 
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//  created:    2014/02/07
6//  filename:   SimuImu.cpp
7//
8//  author:     Guillaume Sanahuja
9//              Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11//  version:    $Id: $
12//
13//  purpose:    Class for a simulation imu
14//
15//
16/*********************************************************************/
17
18#include "SimuImu.h"
19#include <FrameworkManager.h>
20#include <ImuData.h>
21#include <SpinBox.h>
22#include <GroupBox.h>
23#include <cvmatrix.h>
24#include <SharedMem.h>
25#include <AhrsData.h>
26#include <sstream>
27
28using std::string;
29using std::ostringstream;
30using namespace flair::core;
31using namespace flair::gui;
32
33namespace flair {
34namespace sensor {
35
36SimuImu::SimuImu(string name, uint32_t modelId,uint32_t deviceId,
37                 uint8_t priority)
38    : Imu(name), Thread(getFrameworkManager(), name, priority) {
39  dataRate =
40      new SpinBox(GetGroupBox()->NewRow(), "data rate", " Hz", 1, 500, 1, 200);
41  ahrsData = new AhrsData((Imu *)this);
42 
43  shmem = new SharedMem((Thread *)this, ShMemName(modelId, deviceId),
44                        sizeof(imu_states_t));
45  SetIsReady(true);
46}
47
48SimuImu::SimuImu(const IODevice *parent, string name, uint32_t modelId,uint32_t deviceId)
49    : Imu(parent,name), Thread(parent, name, 0) {
50  dataRate = NULL;
51
52  shmem = new SharedMem((Thread *)this, ShMemName(modelId, deviceId),
53                        sizeof(imu_states_t));
54  SetIsReady(true);
55}
56
57SimuImu::~SimuImu() {
58  SafeStop();
59  Join();
60}
61
62string SimuImu::ShMemName(uint32_t modelId,uint32_t deviceId) {
63  ostringstream dev_name;
64  dev_name << "simu" <<  modelId << "_imu_" << deviceId;
65  return dev_name.str().c_str();
66}
67
68void SimuImu::UpdateFrom(const io_data *data) {
69  if (data != NULL) {
70    cvmatrix *input = (cvmatrix *)data;
71    imu_states_t state;
72
73    input->GetMutex();
74    state.q0 = input->ValueNoMutex(0, 0);
75    state.q1 = input->ValueNoMutex(1, 0);
76    state.q2 = input->ValueNoMutex(2, 0);
77    state.q3 = input->ValueNoMutex(3, 0);
78    state.wx = input->ValueNoMutex(7, 0);
79    state.wy = input->ValueNoMutex(8, 0);
80    state.wz = input->ValueNoMutex(9, 0);
81    input->ReleaseMutex();
82
83    shmem->Write((char *)&state, sizeof(imu_states_t));
84  }
85}
86
87void SimuImu::Run(void) {
88  imu_states_t state;
89  ImuData *imuData;
90  GetDatas(&imuData);
91
92  if (dataRate == NULL) {
93    Thread::Err("not applicable for simulation part.\n");
94    return;
95  }
96
97  SetPeriodUS((uint32_t)(1000000. / dataRate->Value()));
98
99  while (!ToBeStopped()) {
100    WaitPeriod();
101
102    if (dataRate->ValueChanged() == true) {
103      SetPeriodUS((uint32_t)(1000000. / dataRate->Value()));
104    }
105
106    shmem->Read((char *)&state, sizeof(imu_states_t));
107    ahrsData->SetQuaternionAndAngularRates(
108        Quaternion(state.q0, state.q1, state.q2, state.q3),
109        Vector3D(state.wx, state.wy, state.wz));
110
111    imuData->SetDataTime(GetTime());
112    ahrsData->SetDataTime(GetTime());
113
114    UpdateImu();
115    ProcessUpdate(ahrsData);
116  }
117}
118
119} // end namespace sensor
120} // end namespace flair
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