Changeset 224 in flair-src for trunk/lib/FlairSensorActuator/src/SimuImu.cpp

Timestamp:

03/06/18 12:12:58 (5 years ago)

Author:

Sanahuja Guillaume

Message:

maj for armv5te

File:

• trunk/lib/FlairSensorActuator/src/SimuImu.cpp (modified) (3 diffs)

trunk/lib/FlairSensorActuator/src/SimuImu.cpp

@@ -34 +34 @@
 namespace sensor {
 
-//Construct a SimuImu. Control part.
 SimuImu::SimuImu(string name, uint32_t modelId,uint32_t deviceId,
                  uint8_t priority)
@@ -42 +41 @@
   ahrsData = new AhrsData((Imu *)this);
   
-  shmem = new SharedMem((Thread *)this, ShMemName(modelId, deviceId),
-                        sizeof(imu_states_t));
-  SetIsReady(true);
-}
-
-//Construct a SimuImu. Simulation part.
-SimuImu::SimuImu(const IODevice *parent, string name, uint32_t modelId,uint32_t deviceId)
-    : Imu(parent,name), Thread(parent, name, 0) {
-  dataRate = NULL;
-
   shmem = new SharedMem((Thread *)this, ShMemName(modelId, deviceId),
                         sizeof(imu_states_t));
@@ -66 +55 @@
   dev_name << "simu" <<  modelId << "_imu_" << deviceId;
   return dev_name.str().c_str();
-}
-
-void SimuImu::UpdateFrom(const io_data *data) {
-  if (data != NULL) {
-    Matrix *input = (Matrix *)data;
-    imu_states_t state;
-
-    input->GetMutex();
-    state.q0 = input->ValueNoMutex(0, 0);
-    state.q1 = input->ValueNoMutex(1, 0);
-    state.q2 = input->ValueNoMutex(2, 0);
-    state.q3 = input->ValueNoMutex(3, 0);
-    state.wx = input->ValueNoMutex(7, 0);
-    state.wy = input->ValueNoMutex(8, 0);
-    state.wz = input->ValueNoMutex(9, 0);
-    state.ax = input->ValueNoMutex(13, 0);
-    state.ay = input->ValueNoMutex(14, 0);
-    state.az = input->ValueNoMutex(15, 0);
-    state.mx = input->ValueNoMutex(16, 0);
-    state.my = input->ValueNoMutex(17, 0);
-    state.mz = input->ValueNoMutex(18, 0);
-    input->ReleaseMutex();
-
-    shmem->Write((char *)&state, sizeof(imu_states_t));
-  }
 }