| [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: SimuUs.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 us
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| 14 | //
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| 15 | //
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| 16 | /*********************************************************************/
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| 17 | #include "SimuLaser.h"
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| 18 | #include <FrameworkManager.h>
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| 19 | #include <ImuData.h>
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| 20 | #include <SpinBox.h>
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| 21 | #include <GroupBox.h>
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| 22 | #include <cvmatrix.h>
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| 23 | #include <SharedMem.h>
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| 24 | #include <sstream>
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| 25 |
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| 26 | using std::string;
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| 27 | using std::ostringstream;
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| 28 | using namespace flair::core;
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| 29 | using namespace flair::gui;
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| 30 |
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| [15] | 31 | namespace flair {
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| 32 | namespace sensor {
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| [3] | 33 |
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| [137] | 34 | SimuLaser::SimuLaser(string name,
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| [15] | 35 | uint32_t dev_id, uint8_t priority)
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| [137] | 36 | : Thread(getFrameworkManager(), name, priority), LaserRangeFinder(name) {
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| [15] | 37 | data_rate =
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| 38 | new SpinBox(GetGroupBox()->NewRow(), "data rate", " Hz", 1, 500, 1, 50);
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| [3] | 39 |
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| [15] | 40 | ostringstream dev_name;
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| 41 | dev_name << "simu_Laser_" << dev_id;
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| 42 | shmem = new SharedMem((Thread *)this, dev_name.str().c_str(),
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| 43 | 360 * sizeof(float)); //****
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| [3] | 44 | }
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| 45 |
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| [15] | 46 | SimuLaser::SimuLaser(const IODevice *parent, string name, uint32_t dev_id)
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| 47 | : Thread(parent, name, 0), LaserRangeFinder(parent, name) {
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| 48 | data_rate = NULL;
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| [3] | 49 |
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| [15] | 50 | ostringstream dev_name;
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| 51 | dev_name << "simu_Laser_" << dev_id;
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| 52 | shmem = new SharedMem((Thread *)this, dev_name.str().c_str(),
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| 53 | 360 * sizeof(float));
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| [3] | 54 | }
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| 55 |
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| [15] | 56 | SimuLaser::~SimuLaser() {
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| 57 | SafeStop();
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| 58 | Join();
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| [3] | 59 | }
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| 60 |
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| [15] | 61 | void SimuLaser::Run(void) {
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| 62 | float z[360];
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| [3] | 63 |
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| [15] | 64 | if (data_rate == 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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| [3] | 68 |
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| [15] | 69 | SetPeriodUS((uint32_t)(1000000. / data_rate->Value()));
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| [3] | 70 |
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| [15] | 71 | while (!ToBeStopped()) {
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| 72 | WaitPeriod();
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| [3] | 73 |
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| [15] | 74 | shmem->Read((char *)z, 360 * sizeof(float));
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| [3] | 75 |
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| [15] | 76 | if (data_rate->ValueChanged() == true) {
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| 77 | SetPeriodUS((uint32_t)(1000000. / data_rate->Value()));
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| [3] | 78 | }
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| [15] | 79 | for (int i = 0; i < 360; i++) {
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| 80 | output->SetValue(i, 0, z[i]); //*******
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| 81 | }
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| 82 | output->SetDataTime(GetTime());
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| 83 | ProcessUpdate(output);
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| 84 | }
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| [3] | 85 | }
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| 86 |
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| 87 | } // end namespace sensor
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| 88 | } // end namespace flair
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