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

// %flair:license{

// This file is part of the Flair framework distributed under the

// CECILL-C License, Version 1.0.

// %flair:license}

//  created:    2014/02/07

//  filename:   SimuUs.cpp

//

//  author:     Guillaume Sanahuja

//              Copyright Heudiasyc UMR UTC/CNRS 7253

//

//  version:    $Id: $

//

//  purpose:    Class for a simulation us

//

//

/*********************************************************************/

#include "SimuLaser.h"

#include <FrameworkManager.h>

#include <SpinBox.h>

#include <GroupBox.h>

#include <Matrix.h>

#include <SharedMem.h>

#include <sstream>



using std::string;

using std::ostringstream;

using namespace flair::core;

using namespace flair::gui;



namespace flair {

namespace sensor {



SimuLaser::SimuLaser(string name,

                     uint32_t modelId,uint32_t deviceId, uint8_t priority)

    : Thread(getFrameworkManager(), name, priority), LaserRangeFinder(name) {

  data_rate =

      new SpinBox(GetGroupBox()->NewRow(), "data rate", " Hz", 1, 500, 1, 50);



  shmem = new SharedMem((Thread *)this, ShMemName(modelId, deviceId),

                        360 * sizeof(float));

  SetIsReady(true);

}



SimuLaser::~SimuLaser() {

  SafeStop();

  Join();

}



string SimuLaser::ShMemName(uint32_t modelId,uint32_t deviceId) {

  ostringstream dev_name;

  dev_name << "simu" <<  modelId << "_laser_" << deviceId;

  return dev_name.str().c_str();

}



void SimuLaser::Run(void) {

  float z[360];



  if (data_rate == NULL) {

    Thread::Err("not applicable for simulation part.\n");

    return;

  }



  SetPeriodUS((uint32_t)(1000000. / data_rate->Value()));



  while (!ToBeStopped()) {

    WaitPeriod();



    shmem->Read((char *)z, 360 * sizeof(float));



    if (data_rate->ValueChanged() == true) {

      SetPeriodUS((uint32_t)(1000000. / data_rate->Value()));

    }

    for (int i = 0; i < 360; i++) {

      output->SetValue(i, 0, z[i]); //*******

    }

    output->SetDataTime(GetTime());

    ProcessUpdate(output);

  }

}



} // end namespace sensor

} // end namespace flair