source: flair-src/trunk/lib/FlairSensorActuator/src/SimuUs.cpp @ 15

Last change on this file since 15 was 15, checked in by Bayard Gildas, 5 years ago

sources reformatted with flair-format-dir script

File size: 2.0 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 "SimuUs.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
34SimuUs::SimuUs(const FrameworkManager *parent, string name, uint32_t dev_id,
35               uint8_t priority)
36    : Thread(parent, name, priority), UsRangeFinder(parent, 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_us_" << dev_id;
42  shmem = new SharedMem((Thread *)this, dev_name.str().c_str(), sizeof(float));
43}
44
45SimuUs::SimuUs(const IODevice *parent, string name, uint32_t dev_id)
46    : Thread(parent, name, 0), UsRangeFinder(parent, name) {
47  data_rate = NULL;
48
49  ostringstream dev_name;
50  dev_name << "simu_us_" << dev_id;
51  shmem = new SharedMem((Thread *)this, dev_name.str().c_str(), sizeof(float));
52}
53
54SimuUs::~SimuUs() {
55  SafeStop();
56  Join();
57}
58
59void SimuUs::Run(void) {
60  float z;
61
62  if (data_rate == NULL) {
63    Thread::Err("not applicable for simulation part.\n");
64    return;
65  }
66
67  SetPeriodUS((uint32_t)(1000000. / data_rate->Value()));
68
69  while (!ToBeStopped()) {
70    WaitPeriod();
71
72    shmem->Read((char *)&z, sizeof(float));
73
74    if (data_rate->ValueChanged() == true) {
75      SetPeriodUS((uint32_t)(1000000. / data_rate->Value()));
76    }
77
78    output->SetValue(0, 0, z);
79    output->SetDataTime(GetTime());
80    ProcessUpdate(output);
81  }
82}
83
84} // end namespace sensor
85} // end namespace flair
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