HMR3300.C

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00001 /*!@file Devices/HMR3300.C class for interfacing with a Honeywell 3300 compass */
00002 
00003 // //////////////////////////////////////////////////////////////////// //
00004 // The iLab Neuromorphic Vision C++ Toolkit - Copyright (C) 2000-2003   //
00005 // by the University of Southern California (USC) and the iLab at USC.  //
00006 // See http://iLab.usc.edu for information about this project.          //
00007 // //////////////////////////////////////////////////////////////////// //
00008 // Major portions of the iLab Neuromorphic Vision Toolkit are protected //
00009 // under the U.S. patent ``Computation of Intrinsic Perceptual Saliency //
00010 // in Visual Environments, and Applications'' by Christof Koch and      //
00011 // Laurent Itti, California Institute of Technology, 2001 (patent       //
00012 // pending; application number 09/912,225 filed July 23, 2001; see      //
00013 // http://pair.uspto.gov/cgi-bin/final/home.pl for current status).     //
00014 // //////////////////////////////////////////////////////////////////// //
00015 // This file is part of the iLab Neuromorphic Vision C++ Toolkit.       //
00016 //                                                                      //
00017 // The iLab Neuromorphic Vision C++ Toolkit is free software; you can   //
00018 // redistribute it and/or modify it under the terms of the GNU General  //
00019 // Public License as published by the Free Software Foundation; either  //
00020 // version 2 of the License, or (at your option) any later version.     //
00021 //                                                                      //
00022 // The iLab Neuromorphic Vision C++ Toolkit is distributed in the hope  //
00023 // that it will be useful, but WITHOUT ANY WARRANTY; without even the   //
00024 // implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR      //
00025 // PURPOSE.  See the GNU General Public License for more details.       //
00026 //                                                                      //
00027 // You should have received a copy of the GNU General Public License    //
00028 // along with the iLab Neuromorphic Vision C++ Toolkit; if not, write   //
00029 // to the Free Software Foundation, Inc., 59 Temple Place, Suite 330,   //
00030 // Boston, MA 02111-1307 USA.                                           //
00031 // //////////////////////////////////////////////////////////////////// //
00032 //
00033 // Primary maintainer for this file: Nitin Dhavale <dhavale@usc.edu>
00034 // $HeadURL: svn://isvn.usc.edu/software/invt/trunk/saliency/src/Devices/HMR3300.C $
00035 // $Id: HMR3300.C 7880 2007-02-09 02:34:07Z itti $
00036 //
00037 
00038 #include "Devices/HMR3300.H"
00039 #include <sstream>
00040 #include <string>
00041 
00042 void *Compass_run(void *c);
00043 
00044 // ######################################################################
00045 void *Compass_run(void *c)
00046 {
00047   HMR3300 *d = (HMR3300 *)c;
00048   d->run();
00049   return NULL;
00050 }
00051 
00052 // ######################################################################
00053 HMR3300Listener::~HMR3300Listener()
00054 { }
00055 
00056 // ######################################################################
00057 HMR3300::HMR3300(OptionManager& mgr, const std::string& descrName,
00058                  const std::string& tagName, const char *dev) :
00059   ModelComponent(mgr, descrName, tagName),
00060   itsSerial(new Serial(mgr, descrName+" Serial Port", tagName+"SerialPort")),
00061   itsKeepgoing(true), itsListener(), itsHeading(), itsPitch(), itsRoll()
00062 {
00063   itsSerial->configure(dev, 19200, "8N1", false, false, 0);
00064   addSubComponent(itsSerial);
00065   pthread_mutex_init(&itsLock, NULL);
00066 }
00067 
00068 // ######################################################################
00069 void HMR3300::setListener(rutz::shared_ptr<HMR3300Listener>& listener)
00070 { itsListener = listener; }
00071 
00072 // ######################################################################
00073 void HMR3300::start2()
00074 { pthread_create(&itsRunner, NULL, &Compass_run, (void *)this); }
00075 
00076 // ######################################################################
00077 void HMR3300::stop1()
00078 {
00079   itsKeepgoing = false;
00080   usleep(300000); // make sure thread has exited
00081 }
00082 
00083 // ######################################################################
00084 HMR3300::~HMR3300()
00085 {
00086   pthread_mutex_destroy(&itsLock);
00087 }
00088 
00089 // ######################################################################
00090 void HMR3300::run()
00091 {
00092   unsigned char c = 255;
00093   while(itsKeepgoing)
00094     {
00095       // skip to next LF:
00096       while(c != '\n') c = itsSerial->read();
00097 
00098       // get data until next LF:
00099       std::string str;
00100       while( (c = itsSerial->read() ) != '\n')
00101          if (isdigit(c) || c == '.' || c == '-') str += c;
00102           else str += ' ';
00103       // convert to doubles:
00104         std::stringstream strs(str);
00105        double hh, pp, rr; strs >> hh >> rr >> pp;
00106 
00107       // update our internal data:
00108       pthread_mutex_lock(&itsLock);
00109       itsHeading = hh; itsPitch = pp; itsRoll = rr;
00110       pthread_mutex_unlock(&itsLock);
00111 
00112       // if we have a listener, let it know:
00113       if (itsListener.is_valid()) itsListener->newData(hh, pp, rr);
00114     }
00115 
00116   pthread_exit(0);
00117 }
00118 
00119 // ######################################################################
00120 void HMR3300::get(Angle& heading, Angle& pitch, Angle& roll)
00121 {
00122   pthread_mutex_lock(&itsLock);
00123   heading = itsHeading; pitch = itsPitch; roll = itsRoll;
00124   pthread_mutex_unlock(&itsLock);
00125 }
00126 
00127 // ######################################################################
00128 Angle HMR3300::getHeading()
00129 {
00130   pthread_mutex_lock(&itsLock);
00131   const Angle ret = itsHeading;
00132   pthread_mutex_unlock(&itsLock);
00133   return ret;
00134 }
00135 
00136 // ######################################################################
00137 Angle HMR3300::getPitch()
00138 {
00139   pthread_mutex_lock(&itsLock);
00140   const Angle ret = itsPitch;
00141   pthread_mutex_unlock(&itsLock);
00142   return ret;
00143 }
00144 
00145 // ######################################################################
00146 Angle HMR3300::getRoll()
00147 {
00148   pthread_mutex_lock(&itsLock);
00149   const Angle ret = itsRoll;
00150   pthread_mutex_unlock(&itsLock);
00151   return ret;
00152 }
00153 
00154 // ######################################################################
00155 /* So things look consistent in everyone's emacs... */
00156 /* Local Variables: */
00157 /* indent-tabs-mode: nil */
00158 /* End: */
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