source: flair-src/trunk/lib/FlairSensorActuator/src/SimulatedImu.cpp @ 330

Last change on this file since 330 was 286, checked in by Sanahuja Guillaume, 3 years ago

draw vrpn axis in simulator

File size: 2.6 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:   SimulatedImu.cpp
7//
8//  author:     Guillaume Sanahuja
9//              Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11//  version:    $Id: $
12//
13//  purpose:    Class for a simulation imu
14//
15//
16/*********************************************************************/
17#ifdef CORE2_64
18
19#include "SimulatedImu.h"
20#include <FrameworkManager.h>
21#include <ImuData.h>
22#include <SpinBox.h>
23#include <GroupBox.h>
24#include <Matrix.h>
25#include <SharedMem.h>
26#include <AhrsData.h>
27#include <sstream>
28
29using std::string;
30using std::ostringstream;
31using namespace flair::core;
32using namespace flair::gui;
33
34namespace flair {
35namespace sensor {
36
37SimulatedImu::SimulatedImu(string name, uint32_t modelId,uint32_t deviceId,
38                 uint8_t priority)
39    : Imu(name,false), Thread(getFrameworkManager(), name, priority) {
40  dataRate =
41      new SpinBox(GetGroupBox()->NewRow(), "data rate", " Hz", 1, 500, 1, 200);
42  ahrsData = new AhrsData((Imu *)this);
43 
44  shmem = new SharedMem((Thread *)this, ShMemName(modelId, deviceId),
45                        sizeof(imu_states_t));
46  SetIsReady(true);
47}
48
49SimulatedImu::~SimulatedImu() {
50  SafeStop();
51  Join();
52}
53
54string SimulatedImu::ShMemName(uint32_t modelId,uint32_t deviceId) {
55  ostringstream dev_name;
56  dev_name << "simu" <<  modelId << "_imu_" << deviceId;
57  return dev_name.str().c_str();
58}
59
60void SimulatedImu::Run(void) {
61  imu_states_t state;
62  ImuData *imuData;
63  GetDatas(&imuData);
64
65  SetPeriodUS((uint32_t)(1000000. / dataRate->Value()));
66
67  while (!ToBeStopped()) {
68    WaitPeriod();
69
70    if (dataRate->ValueChanged() == true) {
71      SetPeriodUS((uint32_t)(1000000. / dataRate->Value()));
72    }
73    shmem->Read((char *)&state, sizeof(imu_states_t));
74    Quaternion quaternion(state.q0, state.q1, state.q2, state.q3);
75    Vector3Df angRate(state.wx, state.wy, state.wz);
76    Vector3Df rawAcc(state.ax, state.ay, state.az);
77    Vector3Df rawMag(state.mx, state.my, state.mz);
78    Vector3Df rawGyr(state.wx, state.wy, state.wz);
79    //we do not need rotation in simulation
80    /*
81    ApplyRotation(angRate);
82    ApplyRotation(quaternion);
83    ApplyRotation(rawAcc);
84    ApplyRotation(rawMag);
85    ApplyRotation(rawGyr);*/
86    ahrsData->SetQuaternionAndAngularRates(quaternion,angRate);
87    imuData->SetRawAccMagAndGyr(rawAcc,rawMag,rawGyr);
88    imuData->SetDataTime(GetTime());
89    ahrsData->SetDataTime(GetTime());
90    ProcessUpdate(ahrsData);
91  }
92}
93
94} // end namespace sensor
95} // end namespace flair
96
97#endif
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