[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 | // created: 2014/03/06
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[286] | 6 | // filename: SimulatedCamera.cpp
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[3] | 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 camera
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| 14 | //
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| 15 | //
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| 16 | /*********************************************************************/
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[268] | 17 | #ifdef CORE2_64
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[3] | 18 |
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[286] | 19 | #include "SimulatedCamera.h"
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[3] | 20 | #include <FrameworkManager.h>
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[137] | 21 | #include <GroupBox.h>
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[3] | 22 | #include <SharedMem.h>
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| 23 | #include <sstream>
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[330] | 24 | #include <string.h>
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[3] | 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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[15] | 31 | namespace flair {
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| 32 | namespace sensor {
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[3] | 33 |
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[286] | 34 | SimulatedCamera::SimulatedCamera(string name,
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[15] | 35 | uint16_t width, uint16_t height, uint8_t channels,
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[158] | 36 | uint32_t modelId,uint32_t deviceId, uint8_t priority)
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[137] | 37 | : Thread(getFrameworkManager(), name, priority),
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| 38 | Camera(name, width, height, cvimage::Type::Format::BGR) {
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[3] | 39 |
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[151] | 40 | buf_size = width * height * channels+sizeof(Time);
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[3] | 41 |
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[151] | 42 | shmemReadBuf=(char*)malloc(buf_size);
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[330] | 43 | output->buffer = shmemReadBuf;
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[3] | 44 |
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[158] | 45 | shmem = new SharedMem((Thread *)this,ShMemName(modelId, deviceId), buf_size, SharedMem::Type::producerConsumer);
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[157] | 46 |
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| 47 | SetIsReady(true);
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[3] | 48 | }
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| 49 |
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| 50 |
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[286] | 51 | SimulatedCamera::~SimulatedCamera() {
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[15] | 52 | SafeStop();
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| 53 | Join();
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[151] | 54 | if(shmemReadBuf!=NULL) delete shmemReadBuf;
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[3] | 55 | }
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| 56 |
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[286] | 57 | string SimulatedCamera::ShMemName(uint32_t modelId,uint32_t deviceId) {
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[158] | 58 | ostringstream dev_name;
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| 59 | dev_name << "simu" << modelId << "_cam_" << deviceId;
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| 60 | return dev_name.str().c_str();
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| 61 | }
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| 62 |
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[286] | 63 | void SimulatedCamera::Run(void) {
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[151] | 64 | Time time;
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[3] | 65 |
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[150] | 66 | // SetPeriodUS((uint32_t)(1000000. / data_rate->Value()));
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| 67 | shmem->ReaderReady();
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[3] | 68 |
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[15] | 69 | while (!ToBeStopped()) {
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[150] | 70 | // WaitPeriod();
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[3] | 71 |
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[150] | 72 | // if (data_rate->ValueChanged() == true) {
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| 73 | // SetPeriodUS((uint32_t)(1000000. / data_rate->Value()));
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| 74 | // }
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[3] | 75 |
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[15] | 76 | output->GetMutex();
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[144] | 77 | //blocking read
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[238] | 78 | if (shmem->Read(shmemReadBuf, buf_size, 1000000000)) { // remplacer copie par
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| 79 | // échange de pointeur sur
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| 80 | // double buffering
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[3] | 81 |
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[238] | 82 | output->ReleaseMutex();
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| 83 | memcpy(&time, shmemReadBuf + buf_size - sizeof(Time), sizeof(Time));
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| 84 | output->SetDataTime(time);
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| 85 |
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| 86 | ProcessUpdate(output);
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| 87 | } else {
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| 88 | output->ReleaseMutex();
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[271] | 89 | //Thread::Warn("Read Timeout\n");
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[238] | 90 | }
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[15] | 91 | }
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[3] | 92 | }
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| 93 |
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| 94 | } // end namespace sensor
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| 95 | } // end namespace flair
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[268] | 96 |
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| 97 | #endif |
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