| 1 | // %flair:license{
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| 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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| 4 | // %flair:license}
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| 5 | // created: 2014/02/07
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| 6 | // filename: SimuUs.cpp
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| 7 | //
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| 8 | // author: Guillaume Sanahuja
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| 9 | // Copyright Heudiasyc UMR UTC/CNRS 7253
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| 10 | //
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| 11 | // version: $Id: $
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| 12 | //
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| 13 | // purpose: Class for a simulation us
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| 14 | //
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| 15 | //
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| 16 | /*********************************************************************/
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| 17 | #include "SimuUs.h"
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| 18 | #include <FrameworkManager.h>
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| 19 | #include <ImuData.h>
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| 20 | #include <SpinBox.h>
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| 21 | #include <GroupBox.h>
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| 22 | #include <cvmatrix.h>
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| 23 | #include <SharedMem.h>
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| 24 | #include <sstream>
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| 25 |
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| 26 | using std::string;
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| 27 | using std::ostringstream;
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| 28 | using namespace flair::core;
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| 29 | using namespace flair::gui;
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| 30 |
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| 31 | namespace flair
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| 32 | {
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| 33 | namespace sensor
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| 34 | {
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| 35 |
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| 36 | SimuUs::SimuUs(const FrameworkManager* parent,string name,uint32_t dev_id,uint8_t priority) : Thread(parent,name,priority), UsRangeFinder(parent,name)
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| 37 | {
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| 38 | data_rate=new SpinBox(GetGroupBox()->NewRow(),"data rate"," Hz",1,500,1,50);
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| 39 |
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| 40 | ostringstream dev_name;
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| 41 | dev_name << "simu_us_" << dev_id;
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| 42 | shmem=new SharedMem((Thread*)this,dev_name.str().c_str(),sizeof(float));
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| 43 | }
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| 44 |
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| 45 | SimuUs::SimuUs(const IODevice* parent,string name,uint32_t dev_id) : Thread(parent,name,0), UsRangeFinder(parent,name)
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| 46 | {
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| 47 | data_rate=NULL;
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| 48 |
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| 49 | ostringstream dev_name;
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| 50 | dev_name << "simu_us_" << dev_id;
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| 51 | shmem=new SharedMem((Thread*)this,dev_name.str().c_str(),sizeof(float));
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| 52 | }
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| 53 |
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| 54 | SimuUs::~SimuUs()
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| 55 | {
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| 56 | SafeStop();
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| 57 | Join();
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| 58 | }
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| 59 |
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| 60 | void SimuUs::Run(void)
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| 61 | {
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| 62 | float z;
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| 63 |
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| 64 | if(data_rate==NULL)
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| 65 | {
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| 66 | Thread::Err("not applicable for simulation part.\n");
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| 67 | return;
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| 68 | }
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| 69 |
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| 70 | SetPeriodUS((uint32_t)(1000000./data_rate->Value()));
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| 71 |
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| 72 | while(!ToBeStopped())
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| 73 | {
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| 74 | WaitPeriod();
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| 75 |
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| 76 | shmem->Read((char*)&z,sizeof(float));
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| 77 |
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| 78 | if(data_rate->ValueChanged()==true)
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| 79 | {
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| 80 | SetPeriodUS((uint32_t)(1000000./data_rate->Value()));
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| 81 | }
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| 82 |
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| 83 | output->SetValue(0,0,z);
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| 84 | output->SetDataTime(GetTime());
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| 85 | ProcessUpdate(output);
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| 86 | }
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| 87 | }
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| 88 |
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| 89 | } // end namespace sensor
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| 90 | } // end namespace flair
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