Changeset 377 in flair-src for trunk/lib/FlairSensorActuator/src/SimulatedUgvControls.cpp

Timestamp:

12/16/20 09:40:44 (3 years ago)

Author:

Sanahuja Guillaume

Message:

ugv update

File:

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

trunk/lib/FlairSensorActuator/src/SimulatedUgvControls.cpp

@@ -31 +31 @@
 namespace actuator {
 
-SimulatedUgvControls::SimulatedUgvControls(const IODevice *parent,string name, uint32_t modelId,uint32_t deviceId)
-    : UgvControls(parent,name) {
+SimulatedUgvControls::SimulatedUgvControls(string name, uint32_t modelId,uint32_t deviceId)
+    : UgvControls(name) {
   
-  shmem = new SharedMem((Thread *)this, ShMemName(modelId, deviceId),2 * sizeof(float)+sizeof(Time));
+  shmem = new SharedMem(this, ShMemName(modelId, deviceId),2 * sizeof(float)+sizeof(Time));
   
   buf=(char*)malloc(2 * sizeof(float)+sizeof(Time));
@@ -57 +57 @@
 void SimulatedUgvControls::SetControls(float speed,float turn) {
   float *values=(float*)buf;
-  buf[0]=speed;
-  buf[1]=turn;
+  values[0]=speed;
+  values[1]=turn;
   Time time=GetTime();
   memcpy(buf+2 * sizeof(float),&time,sizeof(Time));
@@ -67 +67 @@
   output->GetMutex();
   for (int i = 0; i < 2; i++) {
-    output->SetValueNoMutex(i, 0, buf[i]);
+    output->SetValueNoMutex(i, 0, values[i]);
   }
   output->ReleaseMutex();