source: flair-src/trunk/lib/FlairSensorActuator/src/SimuUs.cpp @ 221

Last change on this file since 221 was 221, checked in by Sanahuja Guillaume, 4 years ago

add us plot

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 "SimuUs.h"
18#include <FrameworkManager.h>
19#include <ImuData.h>
20#include <SpinBox.h>
21#include <GroupBox.h>
22#include <Matrix.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
34//control part
35SimuUs::SimuUs(string name, uint32_t modelId,uint32_t deviceId,
36               uint8_t priority)
37    : Thread(getFrameworkManager(), name, priority), UsRangeFinder( name) {
38  data_rate =
39      new SpinBox(GetGroupBox()->NewRow(), "data rate", " Hz", 1, 500, 1, 50);
40
41  shmem = new SharedMem((Thread *)this, ShMemName(modelId, deviceId), sizeof(float));
42
43  SetIsReady(true);
44}
45
46//simulation part
47SimuUs::SimuUs(const IODevice *parent, string name,uint32_t modelId,uint32_t deviceId)
48    : Thread(parent, name, 0), UsRangeFinder(parent,name) {
49  data_rate = NULL;
50
51  shmem = new SharedMem((Thread *)this, ShMemName(modelId, deviceId), sizeof(float));
52 
53  SetIsReady(true);
54}
55
56SimuUs::~SimuUs() {
57  SafeStop();
58  Join();
59}
60
61string SimuUs::ShMemName(uint32_t modelId,uint32_t deviceId) {
62  ostringstream dev_name;
63  dev_name << "simu" <<  modelId << "_us_" << deviceId;
64  return dev_name.str().c_str();
65}
66
67void SimuUs::Run(void) {
68  float z;
69
70  if (data_rate == NULL) {
71    Thread::Err("not applicable for simulation part.\n");
72    return;
73  }
74
75  SetPeriodUS((uint32_t)(1000000. / data_rate->Value()));
76
77  while (!ToBeStopped()) {
78    WaitPeriod();
79
80    shmem->Read((char *)&z, sizeof(float));
81
82    if (data_rate->ValueChanged() == true) {
83      SetPeriodUS((uint32_t)(1000000. / data_rate->Value()));
84    }
85
86    output->SetValue(0, 0, z);
87    output->SetDataTime(GetTime());
88    ProcessUpdate(output);
89  }
90}
91
92} // end namespace sensor
93} // end namespace flair
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