source: flair-src/trunk/lib/FlairSensorActuator/src/SimuUs.cpp@ 140

// %flair:license{

// This file is part of the Flair framework distributed under the

// CECILL-C License, Version 1.0.

// %flair:license}

//  created:    2014/02/07

//  filename:   SimuUs.cpp

//

//  author:     Guillaume Sanahuja

//              Copyright Heudiasyc UMR UTC/CNRS 7253

//

//  version:    $Id: $

//

//  purpose:    Class for a simulation us

//

//

/*********************************************************************/

#include "SimuUs.h"

#include <FrameworkManager.h>

#include <ImuData.h>

#include <SpinBox.h>

#include <GroupBox.h>

#include <cvmatrix.h>

#include <SharedMem.h>

#include <sstream>



using std::string;

using std::ostringstream;

using namespace flair::core;

using namespace flair::gui;



namespace flair {

namespace sensor {



SimuUs::SimuUs(string name, uint32_t dev_id,

               uint8_t priority)

    : Thread(getFrameworkManager(), name, priority), UsRangeFinder( name) {

  data_rate =

      new SpinBox(GetGroupBox()->NewRow(), "data rate", " Hz", 1, 500, 1, 50);



  ostringstream dev_name;

  dev_name << "simu_us_" << dev_id;

  shmem = new SharedMem((Thread *)this, dev_name.str().c_str(), sizeof(float));

}



SimuUs::SimuUs(const IODevice *parent, string name, uint32_t dev_id)

    : Thread(parent, name, 0), UsRangeFinder(parent,name) {

  data_rate = NULL;



  ostringstream dev_name;

  dev_name << "simu_us_" << dev_id;

  shmem = new SharedMem((Thread *)this, dev_name.str().c_str(), sizeof(float));

}



SimuUs::~SimuUs() {

  SafeStop();

  Join();

}



void SimuUs::Run(void) {

  float z;



  if (data_rate == NULL) {

    Thread::Err("not applicable for simulation part.\n");

    return;

  }



  SetPeriodUS((uint32_t)(1000000. / data_rate->Value()));



  while (!ToBeStopped()) {

    WaitPeriod();



    shmem->Read((char *)&z, sizeof(float));



    if (data_rate->ValueChanged() == true) {

      SetPeriodUS((uint32_t)(1000000. / data_rate->Value()));

    }



    output->SetValue(0, 0, z);

    output->SetDataTime(GetTime());

    ProcessUpdate(output);

  }

}



} // end namespace sensor

} // end namespace flair