Changeset 109 in pacpussensors


Ignore:
Timestamp:
Dec 10, 2015, 10:49:18 AM (9 years ago)
Author:
nguyenhu
Message:

I/O for DbtPlyVtgManager, add classes to compile, fixed DbtPlyCPT by adding type Pose3D from previous version

Location:
trunk
Files:
9 edited

Legend:

Unmodified
Added
Removed

  • trunk/CMakeLists.txt

    r105 r109  
    8282#add_subdirectory(Wifibot)         #depends on PacpusSocket, change PacpusSocket to PacpusUdpSocket
    8383#add_subdirectory(Ladybug)         #require Ladybug spherical camera's driver, not compiled yet
    84 add_subdirectory(StdDbtPlayerComponents)
     84add_subdirectory(StdDbtPlayerComponents) #require Gps
    8585#add_subdirectory(TelnetClient)
    8686#add_subdirectory(VelodyneComponent)

  • trunk/Gps/CMakeLists.txt

    r105 r109  
    112112    optimized PacpusLib debug PacpusLib_d
    113113    optimized PacpusTools debug PacpusTools_d
    114     NMEA0183LIB
     114    optimized NMEA0183LIB debug NMEA0183LIB_d
    115115)
    116116if (WIN32)
    … …  
    133133# INSTALL
    134134pacpus_install(${PROJECT_NAME})
     135
     136# install headers
     137install(
     138    DIRECTORY
     139        ${Gps_SOURCE_DIR}
     140    DESTINATION
     141        ${PACPUS_INSTALL_DIR}/include
     142    FILES_MATCHING PATTERN "*.h"
     143)
     144# if WIN32 install driver dependencies

  • trunk/StdDbtPlayerComponents/CMakeLists.txt

    r108 r109  
    4646    DbtPlyCPTComponent.h
    4747
     48    DbtPlyGstManager.h
     49    DbtPlyGgaManager.h
     50    DbtPlyGpsConfig.h
     51    DbtPlyVtgManager.h
     52
    4853    #${PROJECT_NAME}.xml
    4954    #${PROJECT_NAME}_d.xml
    … …  
    5358    DbtPlySickLMSManager.cpp
    5459    DbtPlySickLDMRSManager.cpp
    55 
     60   
    5661    DbtPlyAlascaManager.cpp
    5762    DbtPlyImageManager.cpp
    5863    DbtPlyCPTComponent.cpp
     64    DbtPlySickLDMRSManager.cpp
     65
     66    DbtPlyGstManager.cpp 
     67    DbtPlyGgaManager.cpp
     68    DbtPlyVtgManager.cpp
    5969)
    6070
    … …  
    6777    DbtPlyImageManager.h
    6878    DbtPlyCPTComponent.h
     79
     80    DbtPlyGstManager.h
     81    DbtPlyGpsConfig.h
     82    DbtPlyGgaManager.h
     83    DbtPlyVtgManager.h
     84
    6985)
    7086

  • trunk/StdDbtPlayerComponents/DbtPlyAlascaManager.h

    r65 r109  
    55//  author:     Gerald Dherbomez
    66//              Copyright Heudiasyc UMR UTC/CNRS 6599
    7 // 
     7//
    88//  version:    $Id: $
    99//
    10 //  purpose:   
     10//  purpose:
    1111// *********************************************************************
    1212
    … …  
    1717
    1818#include "DbitePlayer/DbtPlyFileManager.h"
    19 #include "structure/structure_telemetre.h"
    20 
     19//#include "structure/structure_telemetre.h"
     20#include "../Alasca/AlascaData.h"
    2121// Export macro for DbtPlyAlasca DLL for Windows only
    2222#ifdef WIN32
    … …  
    2929#   endif
    3030#else
    31     // On other platforms, simply ignore this 
    32 #   define DBTPLYALASCA_API 
     31    // On other platforms, simply ignore this
     32#   define DBTPLYALASCA_API
    3333#endif
    3434
    3535namespace pacpus {
    36    
     36
    3737class ShMem;
    3838

  • trunk/StdDbtPlayerComponents/DbtPlyCPTComponent.h

    r108 r109  
    4343
    4444
    45 #include "structure/structure_gps.h"
    46 #include "structure/genericStructures.h"
    47 
     45#include "../Gps/structure_gps.h"
     46//#include "structure/genericStructures.h"
     47#include "Pacpus/kernel/road_time.h"
     48#include <QVector3D>
     49#include <QMatrix4x4>
     50namespace pacpus {
     51class PacpusTimeStampedData {
     52        public:
     53            road_time_t time;
     54            road_timerange_t timerange;
     55            unsigned int sequenceNumber;
     56        };
     57class Pose3D : public PacpusTimeStampedData {
     58public:
     59            QVector3D position;
     60            QVector3D angle;
     61            //QMatrix3x3 poscov;
     62            //QMatrix3x3 angconv;
     63            QMatrix4x4 transform;
     64        };
     65}
    4866//#include "../PoseViewer/PoseViewer.h"
    4967

  • trunk/StdDbtPlayerComponents/DbtPlyGstManager.cpp

    r82 r109  
    5555
    5656  // user interface
    57   if (mShowGui)
     57  if (hasGui())
    5858    displayUI();
    5959

  • trunk/StdDbtPlayerComponents/DbtPlyGstManager.h

    r82 r109  
    2020
    2121#include "Pacpus/DbitePlayer/DbtPlyFileManager.h"
    22 #include "Pacpus/structure/structure_gps.h"
     22#include "../Gps/structure_gps.h"
    2323#include "Pacpus/kernel/ComponentManager.h"//moved from .cpp
    2424//#include "DbitePlayer/SensorTcpServer.h" //added

  • trunk/StdDbtPlayerComponents/DbtPlyVtgManager.cpp

    r82 r109  
    44//
    55// author:     Elie Al Alam & Gerald Dherbomez
    6 // 
     6//
    77// version:    $Id: DbtPlyVtgManager.cpp 676 2008-06-26 10:33:57Z gdherbom $
    88//
    … …  
    2222// Construction de la fabrique de composant DbtPlyVtgManager
    2323//////////////////////////////////////////////////////////////////////////
    24 static ComponentFactory<DbtPlyVtgManager> sFactory("DbtPlyVtgManager"); 
     24static ComponentFactory<DbtPlyVtgManager> sFactory("DbtPlyVtgManager");
    2525
    2626// double dist1[2];
    … …  
    3737
    3838//////////////////////////////////////////////////////////////////////////
    39 // Destructor 
     39// Destructor
    4040DbtPlyVtgManager::~DbtPlyVtgManager()
    4141{
    … …  
    4545//////////////////////////////////////////////////////////////////////////
    4646// Processes data
    47 void DbtPlyVtgManager::processData(road_time_t /*t*/, road_timerange_t /*tr*/ , void * buf)
     47void DbtPlyVtgManager::processData(road_time_t t, road_timerange_t tr , void * buf)
    4848{
    4949    val = (trame_vtg*)(buf);
     50
     51    // make local copy of VTG frame
     52    memcpy(&mVtg.frame, val, sizeof(trame_vtg));
     53    mVtg.time = t;
     54    mVtg.timerange = tr;
     55
     56    // send VTG data to output
     57    checkedSend(outVtg, mVtg);
    5058
    5159}
    … …  
    5967
    6068void DbtPlyVtgManager::startActivity()
    61 { 
     69{
    6270  DbtPlyFileManager::startActivity();
    63   // user interface
     71  outVtg = getTypedOutput<TimestampedVtgFrame, DbtPlyVtgManager>("vtg");
     72  // user interface
    6473}
    6574
    … …  
    6978}
    7079
     80
     81/************************************************************************
     82 * Called by the framework at initialization
     83 ************************************************************************/
     84void DbtPlyVtgManager::addInputs()
     85{
     86  // uncomment to add an input
     87}
     88
     89
     90/************************************************************************
     91 * Called by the framework at initialization
     92 ************************************************************************/
     93void DbtPlyVtgManager::addOutputs()
     94{
     95  // empty: no output
     96  addOutput<TimestampedVtgFrame, DbtPlyVtgManager>("vtg");
     97}
    7198} // namespace pacpus

  • trunk/StdDbtPlayerComponents/DbtPlyVtgManager.h

    r82 r109  
    2020
    2121#include "Pacpus/DbitePlayer/DbtPlyFileManager.h"
    22 #include "Pacpus/structure/structure_gps.h"
     22#include "../Gps/structure_gps.h"
    2323//#include "DbitePlayer/SensorTcpServer.h" //added
    2424#include "Pacpus/PacpusTools/ShMem.h"
    … …  
    3737    ~DbtPlyVtgManager();
    3838    virtual ComponentBase::COMPONENT_CONFIGURATION configureComponent(XmlComponentConfig config);
    39 
     39   
     40    virtual void addInputs();
     41    virtual void addOutputs();
    4042protected:
    4143    void processData(road_time_t t, road_timerange_t tr , void * buffer);
    … …  
    4547private:
    4648    trame_vtg * val;
     49    // Local copy of Vtg data with timestamp
     50    TimestampedVtgFrame mVtg;
    4751
     52    // Declaration of outputs
     53    OutputInterface<TimestampedVtgFrame, DbtPlyVtgManager>* outVtg;
    4854
    4955};
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