Changeset 15 in flair-src for trunk/lib/FlairSensorActuator/src/SimuLaser.cpp

Timestamp:

04/08/16 15:40:57 (8 years ago)

Author:

Bayard Gildas

Message:

sources reformatted with flair-format-dir script

File:

• trunk/lib/FlairSensorActuator/src/SimuLaser.cpp (modified) (1 diff)

trunk/lib/FlairSensorActuator/src/SimuLaser.cpp

@@ -29 +29 @@
 using namespace flair::gui;
 
-namespace flair
-{
-namespace sensor
-{
+namespace flair {
+namespace sensor {
 
-SimuLaser::SimuLaser(const FrameworkManager* parent,string name,uint32_t dev_id,uint8_t priority) : Thread(parent,name,priority), LaserRangeFinder(parent,name)
-{
-    data_rate=new SpinBox(GetGroupBox()->NewRow(),"data rate"," Hz",1,500,1,50);
+SimuLaser::SimuLaser(const FrameworkManager *parent, string name,
+                     uint32_t dev_id, uint8_t priority)
+    : Thread(parent, name, priority), LaserRangeFinder(parent, name) {
+  data_rate =
+      new SpinBox(GetGroupBox()->NewRow(), "data rate", " Hz", 1, 500, 1, 50);
 
-    ostringstream dev_name;
-    dev_name << "simu_Laser_" << dev_id;
-    shmem=new SharedMem((Thread*)this,dev_name.str().c_str(),360*sizeof(float)); //****
+  ostringstream dev_name;
+  dev_name << "simu_Laser_" << dev_id;
+  shmem = new SharedMem((Thread *)this, dev_name.str().c_str(),
+                        360 * sizeof(float)); //****
 }
 
-SimuLaser::SimuLaser(const IODevice* parent,string name,uint32_t dev_id) : Thread(parent,name,0), LaserRangeFinder(parent,name)
-{
-    data_rate=NULL;
+SimuLaser::SimuLaser(const IODevice *parent, string name, uint32_t dev_id)
+    : Thread(parent, name, 0), LaserRangeFinder(parent, name) {
+  data_rate = NULL;
 
-    ostringstream dev_name;
-    dev_name << "simu_Laser_" << dev_id;
-    shmem=new SharedMem((Thread*)this,dev_name.str().c_str(),360*sizeof(float));
+  ostringstream dev_name;
+  dev_name << "simu_Laser_" << dev_id;
+  shmem = new SharedMem((Thread *)this, dev_name.str().c_str(),
+                        360 * sizeof(float));
 }
 
-SimuLaser::~SimuLaser()
-{
-    SafeStop();
-    Join();
+SimuLaser::~SimuLaser() {
+  SafeStop();
+  Join();
 }
 
-void SimuLaser::Run(void)
-{
-    float z[360];
+void SimuLaser::Run(void) {
+  float z[360];
 
-    if(data_rate==NULL)
-    {
-        Thread::Err("not applicable for simulation part.\n");
-        return;
+  if (data_rate == NULL) {
+    Thread::Err("not applicable for simulation part.\n");
+    return;
+  }
+
+  SetPeriodUS((uint32_t)(1000000. / data_rate->Value()));
+
+  while (!ToBeStopped()) {
+    WaitPeriod();
+
+    shmem->Read((char *)z, 360 * sizeof(float));
+
+    if (data_rate->ValueChanged() == true) {
+      SetPeriodUS((uint32_t)(1000000. / data_rate->Value()));
     }
-
-    SetPeriodUS((uint32_t)(1000000./data_rate->Value()));
-
-    while(!ToBeStopped())
-    {
-        WaitPeriod();
-
-        shmem->Read((char*)z,360*sizeof(float));
-
-        if(data_rate->ValueChanged()==true)
-        {
-            SetPeriodUS((uint32_t)(1000000./data_rate->Value()));
-        }
-        for(int i=0; i<360; i++)
-        {
-            output->SetValue(i,0,z[i]); //*******
-        }
-        output->SetDataTime(GetTime());
-        ProcessUpdate(output);
+    for (int i = 0; i < 360; i++) {
+      output->SetValue(i, 0, z[i]); //*******
     }
+    output->SetDataTime(GetTime());
+    ProcessUpdate(output);
+  }
 }