source: flair-src/trunk/lib/FlairSensorActuator/src/SimulatedCamera.cpp @ 338

Last change on this file since 338 was 338, checked in by Sanahuja Guillaume, 2 years ago

remove opencv dep

File size: 2.4 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:    2014/03/06
6//  filename:   SimulatedCamera.cpp
7//
8//  author:     Guillaume Sanahuja
9//              Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11//  version:    $Id: $
12//
13//  purpose:    Class for a simulation camera
14//
15//
16/*********************************************************************/
17#ifdef CORE2_64
18
19#include "SimulatedCamera.h"
20#include <FrameworkManager.h>
21#include <GroupBox.h>
22#include <SharedMem.h>
23#include <sstream>
24#include <string.h>
25
26using std::string;
27using std::ostringstream;
28using namespace flair::core;
29using namespace flair::gui;
30
31namespace flair {
32namespace sensor {
33
34SimulatedCamera::SimulatedCamera(string name,
35                       uint16_t width, uint16_t height, uint8_t channels,
36                       uint32_t modelId,uint32_t deviceId, uint8_t priority)
37    : Thread(getFrameworkManager(), name, priority),
38      Camera(name, width, height, Image::Type::Format::BGR) {
39
40  buf_size = width * height * channels+sizeof(Time);
41
42  shmemReadBuf=(char*)malloc(buf_size);
43  output->buffer = shmemReadBuf;
44
45  shmem = new SharedMem((Thread *)this,ShMemName(modelId, deviceId), buf_size, SharedMem::Type::producerConsumer);
46 
47  SetIsReady(true);
48}
49
50
51SimulatedCamera::~SimulatedCamera() {
52  SafeStop();
53  Join();
54  if(shmemReadBuf!=NULL) delete shmemReadBuf;
55}
56
57string SimulatedCamera::ShMemName(uint32_t modelId,uint32_t deviceId) {
58  ostringstream dev_name;
59  dev_name << "simu" <<  modelId << "_cam_" << deviceId;
60  return dev_name.str().c_str();
61}
62
63void SimulatedCamera::Run(void) {
64  Time time;
65
66//  SetPeriodUS((uint32_t)(1000000. / data_rate->Value()));
67  shmem->ReaderReady();
68
69  while (!ToBeStopped()) {
70//    WaitPeriod();
71
72//    if (data_rate->ValueChanged() == true) {
73//      SetPeriodUS((uint32_t)(1000000. / data_rate->Value()));
74//    }
75
76    output->GetMutex();
77    //blocking read
78    if (shmem->Read(shmemReadBuf, buf_size, 1000000000)) { // remplacer copie par
79      // échange de pointeur sur
80      // double buffering
81
82      output->ReleaseMutex();
83      memcpy(&time, shmemReadBuf + buf_size - sizeof(Time), sizeof(Time));
84      output->SetDataTime(time);
85
86      ProcessUpdate(output);
87    } else {
88      output->ReleaseMutex();
89      //Thread::Warn("Read Timeout\n");
90    }
91  }
92}
93
94} // end namespace sensor
95} // end namespace flair
96
97#endif
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