| 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 <Matrix.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 {
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| 34 | namespace sensor {
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| 35 |
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| 36 | SimuImu::SimuImu(string name, uint32_t modelId,uint32_t deviceId,
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| 37 | uint8_t priority)
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| 38 | : Imu(name,false), Thread(getFrameworkManager(), name, priority) {
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| 39 | dataRate =
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| 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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| 42 |
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| 43 | shmem = new SharedMem((Thread *)this, ShMemName(modelId, deviceId),
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| 44 | sizeof(imu_states_t));
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| 45 | SetIsReady(true);
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| 46 | }
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| 47 |
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| 48 | SimuImu::~SimuImu() {
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| 49 | SafeStop();
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| 50 | Join();
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| 51 | }
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| 52 |
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| 53 | string SimuImu::ShMemName(uint32_t modelId,uint32_t deviceId) {
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| 54 | ostringstream dev_name;
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| 55 | dev_name << "simu" << modelId << "_imu_" << deviceId;
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| 56 | return dev_name.str().c_str();
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| 57 | }
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| 58 |
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| 59 | void SimuImu::Run(void) {
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| 60 | imu_states_t state;
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| 61 | ImuData *imuData;
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| 62 | GetDatas(&imuData);
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| 63 |
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| 64 | if (dataRate == NULL) {
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| 65 | Thread::Err("not applicable for simulation part.\n");
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| 66 | return;
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| 67 | }
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| 68 |
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| 69 | SetPeriodUS((uint32_t)(1000000. / dataRate->Value()));
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| 70 |
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| 71 | while (!ToBeStopped()) {
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| 72 | WaitPeriod();
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| 73 |
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| 74 | if (dataRate->ValueChanged() == true) {
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| 75 | SetPeriodUS((uint32_t)(1000000. / dataRate->Value()));
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| 76 | }
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| 77 | shmem->Read((char *)&state, sizeof(imu_states_t));
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| 78 | Quaternion quaternion(state.q0, state.q1, state.q2, state.q3);
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| 79 | Vector3Df angRate(state.wx, state.wy, state.wz);
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| 80 | Vector3Df rawAcc(state.ax, state.ay, state.az);
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| 81 | Vector3Df rawMag(state.mx, state.my, state.mz);
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| 82 | Vector3Df rawGyr(state.wx, state.wy, state.wz);
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| 83 | //we do not need rotation in simulation
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| 84 | /*
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| 85 | ApplyRotation(angRate);
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| 86 | ApplyRotation(quaternion);
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| 87 | ApplyRotation(rawAcc);
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| 88 | ApplyRotation(rawMag);
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| 89 | ApplyRotation(rawGyr);*/
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| 90 | ahrsData->SetQuaternionAndAngularRates(quaternion,angRate);
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| 91 | imuData->SetRawAccMagAndGyr(rawAcc,rawMag,rawGyr);
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| 92 | imuData->SetDataTime(GetTime());
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| 93 | ahrsData->SetDataTime(GetTime());
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| 94 | ProcessUpdate(ahrsData);
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| 95 | }
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| 96 | }
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| 97 |
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| 98 | } // end namespace sensor
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| 99 | } // end namespace flair
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