source: flair-src/trunk/lib/FlairSensorActuator/src/SimuLaser.cpp@ 4

Last change on this file since 4 was 3, checked in by Sanahuja Guillaume, 6 years ago

sensoractuator

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
32{
33namespace sensor
34{
35
36SimuLaser::SimuLaser(const FrameworkManager* parent,string name,uint32_t dev_id,uint8_t priority) : Thread(parent,name,priority), LaserRangeFinder(parent,name)
37{
38 data_rate=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(),360*sizeof(float)); //****
43}
44
45SimuLaser::SimuLaser(const IODevice* parent,string name,uint32_t dev_id) : Thread(parent,name,0), LaserRangeFinder(parent,name)
46{
47 data_rate=NULL;
48
49 ostringstream dev_name;
50 dev_name << "simu_Laser_" << dev_id;
51 shmem=new SharedMem((Thread*)this,dev_name.str().c_str(),360*sizeof(float));
52}
53
54SimuLaser::~SimuLaser()
55{
56 SafeStop();
57 Join();
58}
59
60void SimuLaser::Run(void)
61{
62 float z[360];
63
64 if(data_rate==NULL)
65 {
66 Thread::Err("not applicable for simulation part.\n");
67 return;
68 }
69
70 SetPeriodUS((uint32_t)(1000000./data_rate->Value()));
71
72 while(!ToBeStopped())
73 {
74 WaitPeriod();
75
76 shmem->Read((char*)z,360*sizeof(float));
77
78 if(data_rate->ValueChanged()==true)
79 {
80 SetPeriodUS((uint32_t)(1000000./data_rate->Value()));
81 }
82 for(int i=0; i<360; i++)
83 {
84 output->SetValue(i,0,z[i]); //*******
85 }
86 output->SetDataTime(GetTime());
87 ProcessUpdate(output);
88 }
89}
90
91} // end namespace sensor
92} // end namespace flair
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