| [3] | 1 | // %flair:license{
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| [15] | 2 | // This file is part of the Flair framework distributed under the
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| 3 | // CECILL-C License, Version 1.0.
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| [3] | 4 | // %flair:license}
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| 5 | /*!
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| 6 | * \file SimuUs.h
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| 7 | * \brief Class for a simulation UsRangeFinder
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| 8 | * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
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| 9 | * \date 2014/02/07
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| 10 | * \version 4.0
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| 11 | */
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| 12 |
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| 13 | #ifndef SIMULASER_H
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| 14 | #define SIMULASER_H
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| 15 |
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| 16 | #include <LaserRangeFinder.h>
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| 17 | #include <Thread.h>
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| 18 |
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| [15] | 19 | namespace flair {
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| 20 | namespace core {
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| 21 | class SharedMem;
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| [3] | 22 | }
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| [15] | 23 | namespace gui {
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| 24 | class SpinBox;
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| 25 | }
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| 26 | }
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| [3] | 27 |
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| [15] | 28 | namespace flair {
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| 29 | namespace sensor {
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| 30 | /*! \class SimuUs
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| 31 | *
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| 32 | * \brief Class for a simulation UsRangeFinder
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| 33 | */
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| 34 | class SimuLaser : public core::Thread, public LaserRangeFinder {
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| 35 | public:
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| 36 | /*!
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| 37 | * \brief Constructor
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| 38 | *
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| 39 | * Construct a SimuUs. Control part.
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| [137] | 40 | * It will be child of the FrameworkManager.
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| [15] | 41 | *
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| 42 | * \param name name
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| [158] | 43 | * \param modelId Model id
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| 44 | * \param deviceId LaserRangeFinder id of the Model
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| [15] | 45 | * \param priority priority of the Thread
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| 46 | */
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| [137] | 47 | SimuLaser(std::string name,
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| [158] | 48 | uint32_t modelId,uint32_t deviceId, uint8_t priority);
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| [3] | 49 |
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| [15] | 50 | /*!
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| 51 | * \brief Constructor
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| 52 | *
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| 53 | * Construct a SimuUs. Simulation part.\n
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| 54 | * The Thread of this class should not be run.
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| 55 | *
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| 56 | * \param parent parent
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| 57 | * \param name name
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| [158] | 58 | * \param modelId Model id
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| 59 | * \param deviceId LaserRangeFinder id of the Model
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| [15] | 60 | */
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| [158] | 61 | SimuLaser(const core::IODevice *parent, std::string name, uint32_t modelId,uint32_t deviceId);
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| [3] | 62 |
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| [15] | 63 | /*!
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| 64 | * \brief Destructor
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| 65 | *
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| 66 | */
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| 67 | ~SimuLaser();
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| [3] | 68 |
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| [15] | 69 | protected:
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| 70 | /*!
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| 71 | * \brief SharedMem to access datas
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| 72 | *
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| 73 | */
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| 74 | core::SharedMem *shmem;
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| [3] | 75 |
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| [15] | 76 | private:
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| 77 | /*!
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| 78 | * \brief Update using provided datas
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| 79 | *
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| 80 | * Reimplemented from IODevice.
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| 81 | *
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| 82 | * \param data data from the parent to process
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| 83 | */
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| 84 | void UpdateFrom(const core::io_data *data){};
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| [3] | 85 |
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| [15] | 86 | /*!
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| 87 | * \brief Run function
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| 88 | *
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| 89 | * Reimplemented from Thread.
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| 90 | *
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| 91 | */
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| 92 | void Run(void);
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| [158] | 93 |
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| 94 | std::string ShMemName(uint32_t modelId,uint32_t deviceId);
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| [15] | 95 | gui::SpinBox *data_rate;
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| 96 | };
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| [3] | 97 | } // end namespace sensor
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| 98 | } // end namespace flair
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| 99 | #endif // SIMULASER_H
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