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: 2014/03/06
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6 | // filename: SimulatedCamera.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 camera
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14 | //
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15 | //
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16 | /*********************************************************************/
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17 | #ifdef CORE2_64
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18 |
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19 | #include "SimulatedCamera.h"
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20 | #include <FrameworkManager.h>
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21 | #include <GroupBox.h>
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22 | #include <SharedMem.h>
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23 | #include <sstream>
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24 |
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25 | using std::string;
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26 | using std::ostringstream;
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27 | using namespace flair::core;
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28 | using namespace flair::gui;
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29 |
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30 | namespace flair {
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31 | namespace sensor {
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32 |
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33 | SimulatedCamera::SimulatedCamera(string name,
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34 | uint16_t width, uint16_t height, uint8_t channels,
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35 | uint32_t modelId,uint32_t deviceId, uint8_t priority)
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36 | : Thread(getFrameworkManager(), name, priority),
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37 | Camera(name, width, height, cvimage::Type::Format::BGR) {
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38 |
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39 | buf_size = width * height * channels+sizeof(Time);
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40 |
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41 | shmemReadBuf=(char*)malloc(buf_size);
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42 | output->img->imageData = shmemReadBuf;
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43 |
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44 | shmem = new SharedMem((Thread *)this,ShMemName(modelId, deviceId), buf_size, SharedMem::Type::producerConsumer);
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45 |
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46 | SetIsReady(true);
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47 | }
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48 |
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49 |
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50 | SimulatedCamera::~SimulatedCamera() {
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51 | SafeStop();
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52 | Join();
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53 | if(shmemReadBuf!=NULL) delete shmemReadBuf;
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54 | }
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55 |
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56 | string SimulatedCamera::ShMemName(uint32_t modelId,uint32_t deviceId) {
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57 | ostringstream dev_name;
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58 | dev_name << "simu" << modelId << "_cam_" << deviceId;
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59 | return dev_name.str().c_str();
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60 | }
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61 |
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62 | void SimulatedCamera::Run(void) {
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63 | Time time;
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64 |
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65 | // SetPeriodUS((uint32_t)(1000000. / data_rate->Value()));
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66 | shmem->ReaderReady();
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67 |
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68 | while (!ToBeStopped()) {
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69 | // WaitPeriod();
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70 |
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71 | // if (data_rate->ValueChanged() == true) {
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72 | // SetPeriodUS((uint32_t)(1000000. / data_rate->Value()));
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73 | // }
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74 |
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75 | output->GetMutex();
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76 | //blocking read
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77 | if (shmem->Read(shmemReadBuf, buf_size, 1000000000)) { // remplacer copie par
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78 | // échange de pointeur sur
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79 | // double buffering
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80 |
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81 | output->ReleaseMutex();
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82 | memcpy(&time, shmemReadBuf + buf_size - sizeof(Time), sizeof(Time));
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83 | output->SetDataTime(time);
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84 |
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85 | ProcessUpdate(output);
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86 | } else {
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87 | output->ReleaseMutex();
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88 | //Thread::Warn("Read Timeout\n");
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89 | }
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90 | }
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91 | }
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92 |
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93 | } // end namespace sensor
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94 | } // end namespace flair
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95 |
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96 | #endif |
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