FakeAnalogSensor.cpp

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/*
 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#include "FakeAnalogSensor.h"
 
#include <yarp/os/Time.h>
#include <yarp/os/LogComponent.h>
#include <yarp/os/LogStream.h>
 
using namespace yarp::dev;
 
namespace {
YARP_LOG_COMPONENT(FAKEANALOGSENSOR, "yarp.device.fakeAnalogSensor")
}
 
FakeAnalogSensor::FakeAnalogSensor(double period) : PeriodicThread(period),
        mutex(),
        status(IAnalogSensor::AS_OK)
{
    yCTrace(FAKEANALOGSENSOR);
    timeStamp = yarp::os::Time::now();
}
 
FakeAnalogSensor::~FakeAnalogSensor()
{
    yCTrace(FAKEANALOGSENSOR);
}
 
 
bool FakeAnalogSensor::open(yarp::os::Searchable& config)
{
    if (!this->parseParams(config)) {return false;}
 
    yCTrace(FAKEANALOGSENSOR);
 
    double period= m_period / 1000.0;
    setPeriod(period);
 
    //create the data vector:
    data.resize(m_channelsNum);
    data.zero();
 
    return PeriodicThread::start();
}
 
bool FakeAnalogSensor::close()
{
    yCTrace(FAKEANALOGSENSOR);
    //stop the thread
    PeriodicThread::stop();
 
    return true;
}
 
int FakeAnalogSensor::read(yarp::sig::Vector &out)
{
    mutex.lock();
    out[0] = yarp::os::Time::now();
    mutex.unlock();
 
    return status;
}
 
int FakeAnalogSensor::getState(int ch)
{
    yCTrace(FAKEANALOGSENSOR);
    // Always ok for now
    return status;
}
 
int FakeAnalogSensor::getChannels()
{
    yCTrace(FAKEANALOGSENSOR);
    return m_channelsNum;
}
 
int FakeAnalogSensor::calibrateSensor()
{
    yCTrace(FAKEANALOGSENSOR);
    //NOT YET IMPLEMENTED
    return 0;
}
 
int FakeAnalogSensor::calibrateChannel(int ch, double v)
{
    yCTrace(FAKEANALOGSENSOR);
    //NOT YET IMPLEMENTED
    return 0;
}
 
int FakeAnalogSensor::calibrateSensor(const yarp::sig::Vector& v)
{
    yCTrace(FAKEANALOGSENSOR);
    //NOT YET IMPLEMENTED
    return 0;
}
 
int FakeAnalogSensor::calibrateChannel(int ch)
{
    yCTrace(FAKEANALOGSENSOR);
    //NOT YET IMPLEMENTED
    return 0;
}
 
bool FakeAnalogSensor::threadInit()
{
    yCTrace(FAKEANALOGSENSOR);
    return true;
}
 
void FakeAnalogSensor::run()
{
    mutex.lock();
 
    // Do fake stuff
    double timeNow = yarp::os::Time::now();
 
    //if 100ms have passed since the last received message
    if (timeNow > timeStamp + 10) {
        status = IAnalogSensor::AS_TIMEOUT;
    } else {
        status = IAnalogSensor::AS_OK;
    }
 
    timeStamp = timeNow;
    mutex.unlock();
}
 
void FakeAnalogSensor::threadRelease()
{
    yCTrace(FAKEANALOGSENSOR);
}