Changeset 157 in flair-src for trunk/lib/FlairCore

Timestamp:

Mar 4, 2017, 3:29:18 PM (8 years ago)

Author:

Sanahuja Guillaume

Message:

iadded isready to iodevice:
avoid problem of imu not ready in ardrone2

Location:

trunk/lib/FlairCore/src

Files:

• Euler.cpp (modified) (1 diff)
• FindArgument.cpp (added)
• FindArgument.h (added)
• IODevice.cpp (modified) (1 diff)
• IODevice.h (modified) (2 diffs)
• IODevice_impl.cpp (modified) (2 diffs)
• ui_com.cpp (modified) (2 diffs)
• unexported/IODevice_impl.h (modified) (2 diffs)

trunk/lib/FlairCore/src/Euler.cpp

@@ -113 +113 @@
     rot2 = yaw - angle;
   }
-  if (rot2 < rot1)
-    rot1 = -rot2;
+  
+  if (rot2 < rot1) rot1 = -rot2;
+  
   rot1 = -rot1; // pour avoir rot1=yaw-angle
 

trunk/lib/FlairCore/src/IODevice.cpp

@@ -64 +64 @@
 DataType const &IODevice::GetOutputDataType() const { return dummyType; }
 
+void IODevice::SetIsReady(bool status) {
+  pimpl_->SetIsReady(status);
+}
+
+bool IODevice::IsReady(void) const {
+  return pimpl_->IsReady();
+}
+
 } // end namespace core
 } // end namespace flair

trunk/lib/FlairCore/src/IODevice.h

@@ -110 +110 @@
   */
   void OutputToShMem(bool enabled);
+  
+  /*!
+  * \brief is device ready
+  *
+  * Use it check if a device is ready or not.
+  * See also setIsReady.
+  *
+  * \return true if device is ready
+  */
+  bool IsReady(void) const;
 
   // TODO: these 2 method should be pure virtual
@@ -115 +125 @@
   virtual DataType const &GetOutputDataType() const;
 
-        protected:
-            /*!
-            * \brief Process the childs of type IODevice, and log if needed
-            *
-            * This method must be called after computing datas;
-            * generally at the end of the reimplemented UpdateFrom or after acquiring datas in case of a sensor. \n
-            * It will call UpdateFrom methods of each child of type IODevice,
-            * and log all datas (this IODevice and its childs)
-            * if logging is enabled (see SetDataToLog(), AddDeviceToLog(),
-            * FrameworkManager::StartLog and FrameworkManager::AddDeviceToLog). \n
-            * If a thread is waiting on this IODevice (see Thread::WaitUpdate), it will be resumed.
-            *
-            * \param data data to process
-            */
-            void ProcessUpdate(io_data* data);
+  protected:
+    /*!
+    * \brief Process the childs of type IODevice, and log if needed
+    *
+    * This method must be called after computing datas;
+    * generally at the end of the reimplemented UpdateFrom or after acquiring datas in case of a sensor. \n
+    * It will call UpdateFrom methods of each child of type IODevice,
+    * and log all datas (this IODevice and its childs)
+    * if logging is enabled (see SetDataToLog(), AddDeviceToLog(),
+    * FrameworkManager::StartLog and FrameworkManager::AddDeviceToLog). \n
+    * If a thread is waiting on this IODevice (see Thread::WaitUpdate), it will be resumed.
+    *
+    * \param data data to process
+    */
+    void ProcessUpdate(io_data* data);
+    
+    /*!
+    * \brief set is ready
+    *
+    * Sets if the device is ready or not. By default the IODevice is not ready.\n
+    * See also isReady.
+    *
+    * \param status status
+    */
+    void SetIsReady(bool status);
 
 private:

trunk/lib/FlairCore/src/IODevice_impl.cpp

@@ -39 +39 @@
   tobelogged = false;
   outputtoshm = false;
+  isReady=false;
 }
 
@@ -233 +234 @@
   return status;
 }
+
+void IODevice_impl::SetIsReady(bool status) {
+  isReady=status;
+}
+
+bool IODevice_impl::IsReady(void) const {
+  return isReady;
+}

trunk/lib/FlairCore/src/ui_com.cpp

@@ -278 +278 @@
       if (offset != 3) {
         memcpy(&send_buffer[1], &resume_period, sizeof(uint16_t));
-        // printf("send %i %i %i %x
-        // %x\n",resume_period,offset,sizeof(uint16_t),send_buffer,&send_buffer[1]);
+        // printf("send %i %i %i %x %x\n",resume_period,offset,sizeof(uint16_t),send_buffer,&send_buffer[1]);
         // for(int i=0;i<offset;i++) printf("%x ",send_buffer[i]);
         // printf("\n");
@@ -292 +291 @@
       }
       send_mutex->ReleaseMutex();
-      // Printf("%i %lld\n",resume_period,GetTime()/1000000);
+      //Printf("%i %lld\n",resume_period,GetTime()/1000000);
     } else {
       send_mutex->ReleaseMutex();
       // rien a faire, suspend
-      // Printf("rien a faire suspend\n");
+      //Printf("rien a faire suspend\n");
       Suspend();
-      // Printf("wake\n");
+      //Printf("wake\n");
       // on planifie la prochaine execution
       Time time = GetTime();

trunk/lib/FlairCore/src/unexported/IODevice_impl.h

@@ -47 +47 @@
   void WriteToShMem(void);
   void PrintLogsDescriptors(void);
+  void SetIsReady(bool status);
+  bool IsReady(void) const;
 
 private:
@@ -59 +61 @@
   bool outputtoshm;
   flair::core::SharedMem *shmem;
+  bool isReady;
 };