source: flair-src/trunk/lib/FlairSensorActuator/src/SimuImu.cpp@ 224

Last change on this file since 224 was 224, checked in by Sanahuja Guillaume, 4 years ago

maj for armv5te

File size: 2.6 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 <Matrix.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,false), 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() {
49 SafeStop();
50 Join();
51}
52
53string SimuImu::ShMemName(uint32_t modelId,uint32_t deviceId) {
54 ostringstream dev_name;
55 dev_name << "simu" << modelId << "_imu_" << deviceId;
56 return dev_name.str().c_str();
57}
58
59void SimuImu::Run(void) {
60 imu_states_t state;
61 ImuData *imuData;
62 GetDatas(&imuData);
63
64 if (dataRate == NULL) {
65 Thread::Err("not applicable for simulation part.\n");
66 return;
67 }
68
69 SetPeriodUS((uint32_t)(1000000. / dataRate->Value()));
70
71 while (!ToBeStopped()) {
72 WaitPeriod();
73
74 if (dataRate->ValueChanged() == true) {
75 SetPeriodUS((uint32_t)(1000000. / dataRate->Value()));
76 }
77 shmem->Read((char *)&state, sizeof(imu_states_t));
78 Quaternion quaternion(state.q0, state.q1, state.q2, state.q3);
79 Vector3Df angRate(state.wx, state.wy, state.wz);
80 Vector3Df rawAcc(state.ax, state.ay, state.az);
81 Vector3Df rawMag(state.mx, state.my, state.mz);
82 Vector3Df rawGyr(state.wx, state.wy, state.wz);
83 //we do not need rotation in simulation
84 /*
85 ApplyRotation(angRate);
86 ApplyRotation(quaternion);
87 ApplyRotation(rawAcc);
88 ApplyRotation(rawMag);
89 ApplyRotation(rawGyr);*/
90 ahrsData->SetQuaternionAndAngularRates(quaternion,angRate);
91 imuData->SetRawAccMagAndGyr(rawAcc,rawMag,rawGyr);
92 imuData->SetDataTime(GetTime());
93 ahrsData->SetDataTime(GetTime());
94 ProcessUpdate(ahrsData);
95 }
96}
97
98} // end namespace sensor
99} // end namespace flair
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