source: flair-src/trunk/lib/FlairSensorActuator/src/SimuLaser.cpp @ 157

Last change on this file since 157 was 157, checked in by Sanahuja Guillaume, 4 years ago

iadded isready to iodevice:
avoid problem of imu not ready in ardrone2

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  SetIsReady(true);
45}
46
47SimuLaser::SimuLaser(const IODevice *parent, string name, uint32_t dev_id)
48    : Thread(parent, name, 0), LaserRangeFinder(parent, name) {
49  data_rate = NULL;
50
51  ostringstream dev_name;
52  dev_name << "simu_Laser_" << dev_id;
53  shmem = new SharedMem((Thread *)this, dev_name.str().c_str(),
54                        360 * sizeof(float));
55  SetIsReady(true);
56}
57
58SimuLaser::~SimuLaser() {
59  SafeStop();
60  Join();
61}
62
63void SimuLaser::Run(void) {
64  float z[360];
65
66  if (data_rate == NULL) {
67    Thread::Err("not applicable for simulation part.\n");
68    return;
69  }
70
71  SetPeriodUS((uint32_t)(1000000. / data_rate->Value()));
72
73  while (!ToBeStopped()) {
74    WaitPeriod();
75
76    shmem->Read((char *)z, 360 * sizeof(float));
77
78    if (data_rate->ValueChanged() == true) {
79      SetPeriodUS((uint32_t)(1000000. / data_rate->Value()));
80    }
81    for (int i = 0; i < 360; i++) {
82      output->SetValue(i, 0, z[i]); //*******
83    }
84    output->SetDataTime(GetTime());
85    ProcessUpdate(output);
86  }
87}
88
89} // end namespace sensor
90} // end namespace flair
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