source: flair-src/trunk/lib/FlairSensorActuator/src/SimuLaser.cpp @ 137

Last change on this file since 137 was 137, checked in by Sanahuja Guillaume, 4 years ago

singleton manager

File size: 2.2 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:   SimuUs.cpp
7//
8//  author:     Guillaume Sanahuja
9//              Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11//  version:    $Id: $
12//
13//  purpose:    Class for a simulation us
14//
15//
16/*********************************************************************/
17#include "SimuLaser.h"
18#include <FrameworkManager.h>
19#include <ImuData.h>
20#include <SpinBox.h>
21#include <GroupBox.h>
22#include <cvmatrix.h>
23#include <SharedMem.h>
24#include <sstream>
25
26using std::string;
27using std::ostringstream;
28using namespace flair::core;
29using namespace flair::gui;
30
31namespace flair {
32namespace sensor {
33
34SimuLaser::SimuLaser(string name,
35                     uint32_t dev_id, uint8_t priority)
36    : Thread(getFrameworkManager(), name, priority), LaserRangeFinder(name) {
37  data_rate =
38      new SpinBox(GetGroupBox()->NewRow(), "data rate", " Hz", 1, 500, 1, 50);
39
40  ostringstream dev_name;
41  dev_name << "simu_Laser_" << dev_id;
42  shmem = new SharedMem((Thread *)this, dev_name.str().c_str(),
43                        360 * sizeof(float)); //****
44}
45
46SimuLaser::SimuLaser(const IODevice *parent, string name, uint32_t dev_id)
47    : Thread(parent, name, 0), LaserRangeFinder(parent, name) {
48  data_rate = NULL;
49
50  ostringstream dev_name;
51  dev_name << "simu_Laser_" << dev_id;
52  shmem = new SharedMem((Thread *)this, dev_name.str().c_str(),
53                        360 * sizeof(float));
54}
55
56SimuLaser::~SimuLaser() {
57  SafeStop();
58  Join();
59}
60
61void SimuLaser::Run(void) {
62  float z[360];
63
64  if (data_rate == NULL) {
65    Thread::Err("not applicable for simulation part.\n");
66    return;
67  }
68
69  SetPeriodUS((uint32_t)(1000000. / data_rate->Value()));
70
71  while (!ToBeStopped()) {
72    WaitPeriod();
73
74    shmem->Read((char *)z, 360 * sizeof(float));
75
76    if (data_rate->ValueChanged() == true) {
77      SetPeriodUS((uint32_t)(1000000. / data_rate->Value()));
78    }
79    for (int i = 0; i < 360; i++) {
80      output->SetValue(i, 0, z[i]); //*******
81    }
82    output->SetDataTime(GetTime());
83    ProcessUpdate(output);
84  }
85}
86
87} // end namespace sensor
88} // end namespace flair
Note: See TracBrowser for help on using the repository browser.