source: flair-src/trunk/lib/FlairSensorActuator/src/SimuLaser.cpp@ 15

Last change on this file since 15 was 15, checked in by Bayard Gildas, 7 years ago

sources reformatted with flair-format-dir script

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(const FrameworkManager *parent, string name,
35 uint32_t dev_id, uint8_t priority)
36 : Thread(parent, name, priority), LaserRangeFinder(parent, 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
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