Changeset 151 in flair-src for trunk/lib/FlairSensorActuator

Timestamp:

03/01/17 15:38:42 (7 years ago)

Author:

Sanahuja Guillaume

Message:

add timestamp to simucamera producer

Location:

trunk/lib/FlairSensorActuator/src

Files:

• SimuCamera.cpp (modified) (6 diffs)
• SimuCamera.h (modified) (2 diffs)

trunk/lib/FlairSensorActuator/src/SimuCamera.cpp

@@ -19 +19 @@
 #include <FrameworkManager.h>
 #include <GroupBox.h>
-#include <SpinBox.h>
-//#include <cvimage.h>
 #include <SharedMem.h>
 #include <sstream>
@@ -32 +30 @@
 namespace sensor {
 
+//control part
 SimuCamera::SimuCamera(string name,
                        uint16_t width, uint16_t height, uint8_t channels,
@@ -37 +36 @@
     : Thread(getFrameworkManager(), name, priority),
       Camera(name, width, height, cvimage::Type::Format::BGR) {
-//  data_rate =
-//      new SpinBox(GetGroupBox()->NewRow(), "data rate", " Hz", 1, 200, 1, 50);
 
-  buf_size = width * height * channels;
+  buf_size = width * height * channels+sizeof(Time);
 
-  img = cvCreateImage(cvSize(width, height), IPL_DEPTH_8U, 3);
-  output->img->imageData = img->imageData;
+  shmemReadBuf=(char*)malloc(buf_size);
+  output->img->imageData = shmemReadBuf;
 
   ostringstream dev_name;
@@ -50 +47 @@
 }
 
+//simulation part
 SimuCamera::SimuCamera(const IODevice *parent, string name, uint16_t width,
                        uint16_t height, uint8_t channels, uint32_t dev_id)
     : Thread(parent, name, 0), Camera(parent,name) {
-//  data_rate = NULL;
 
+  buf_size = width * height * channels+sizeof(Time);
+  
   ostringstream dev_name;
   dev_name << "simu_cam_" << dev_id;
   shmem = new SharedMem((Thread *)this, dev_name.str().c_str(),
-                        width * height * channels, SharedMem::Type::producerConsumer);
+                        buf_size, SharedMem::Type::producerConsumer);
+  shmemReadBuf=NULL;
 }
 
@@ -64 +64 @@
   SafeStop();
   Join();
+  if(shmemReadBuf!=NULL) delete shmemReadBuf;
 }
 
 void SimuCamera::Run(void) {
+  Time time;
 //  if (data_rate == NULL) {
 //    Thread::Err("not applicable for simulation part.\n");
@@ -84 +86 @@
     output->GetMutex();
     //blocking read
-    shmem->Read((char *)img->imageData, buf_size); // remplacer copie par
+    shmem->Read(shmemReadBuf, buf_size); // remplacer copie par
                                                    // échange de pointeur sur
                                                    // double buffering
     output->ReleaseMutex();
-
-    output->SetDataTime(GetTime());
+    memcpy(&time,shmemReadBuf+buf_size-sizeof(Time),sizeof(Time));
+    output->SetDataTime(time);
 
     ProcessUpdate(output);

trunk/lib/FlairSensorActuator/src/SimuCamera.h

@@ -21 +21 @@
   namespace core {
     class SharedMem;
-  }
-  namespace gui {
-    class SpinBox;
   }
 }
@@ -99 +96 @@
   void UpdateFrom(const core::io_data *data){};
 
-  gui::SpinBox *data_rate;
   size_t buf_size;
-  IplImage *img;
+  char* shmemReadBuf;
 };
 } // end namespace sensor