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ADD: made position Threadsafe, and made it possible to update the sensor position

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This commit is contained in:
Henry Winkel
2023-01-20 12:35:21 +01:00
parent 63c9757ec3
commit 982b701032
7 changed files with 106 additions and 23 deletions
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11
include/SimCore/Messages/Track.hpp
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@@ -15,6 +15,7 @@
#include <memory>
#include <string>
#include <loguru.hpp>
#include <type_traits>
namespace SimCore {
@@ -54,7 +55,6 @@ namespace SimCore {
/**
* @brief constructor for building a track which is also the trackmessage to send
* @param uint32_t deviceID the id of the sending device
* @param WHISPER::SourceType sourcetype of the sending device
* @param SimCore::Identifier object identifier
*
@@ -62,6 +62,15 @@ namespace SimCore {
*/
Track( WHISPER::SourceType src,SimCore::Identifier id);
/**
* @brief constructor for building a track which is also the trackmessage to send
* @param WHISPER::SourceType sourcetype of the sending device
* @param SimCore::Identifier object identifier
* @param WHISPER::MsgType other message type than RawTrack
*
* @return
*/
Track( WHISPER::SourceType src,SimCore::Identifier id, WHISPER::MsgType type);
/**

9
include/SimCore/Position.hpp
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@@ -1,5 +1,6 @@
#pragma once
#include "SimCore/SimCore.hpp"
#include <Eigen/Core>
#include <GeographicLib/Ellipsoid.hpp>
#include <GeographicLib/Geocentric.hpp>
@@ -7,6 +8,7 @@
#include <GeographicLib/GeodesicLine.hpp>
#include <GeographicLib/Constants.hpp>
#include <memory>
#include <mutex>
namespace SimCore {
class Position {
@@ -14,6 +16,8 @@ namespace SimCore {
Position();
Position(double X, double Y, double Z);
Position(const Position& other);
/**
* @brief returns a eigen vector3d with the X, Y, Z coordinates
* @return Eigen::Vector3d
@@ -31,6 +35,9 @@ namespace SimCore {
bool operator== ( Position &lhs);
Position& operator=(const Position other);
private:
std::shared_ptr<GeographicLib::Geocentric> earth_ = nullptr;
@@ -40,6 +47,8 @@ namespace SimCore {
Eigen::Vector3d GeodesicPos_; // lat long height
Eigen::Vector3d GeocentricPos_; ///x y z
mutable std::mutex mx;

7
include/SimCore/Sensor.hpp
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@@ -36,6 +36,8 @@ namespace SimCore {
virtual void specificSensorCalculations() = 0;
virtual void specificReloadCharacteristicts() = 0;
std::shared_ptr<Position> ownShipPosition_ = nullptr;
private:
SimCore::Identifier OwnID_;
@@ -48,8 +50,8 @@ namespace SimCore {
std::shared_ptr<WHISPER::InternalUDPService> GroundTruthUDPService_ = nullptr;
std::shared_ptr<WHISPER::InternalUDPService> ParentUDPService_ = nullptr;
void receivingData();
void sendingData();
void groundThruthData();
void parentData();
void SensorCalculations();
void ReloadCharacteristicts();
@@ -69,7 +71,6 @@ namespace SimCore {
std::thread sensorCalculationThread;
std::shared_ptr<Position> position_ = nullptr;
};