tutorials/MeanCalculator.C

Tutorial: Creating a Unit that Subscribes to Data

#include <fw/MicroUnit.h>

#include <deque>

using namespace mira;

namespace tutorials {


class MeanCalculator : public MicroUnit
{
MIRA_OBJECT(MeanCalculator)

public:

    MeanCalculator();

    template<typename Reflector>
    void reflect(Reflector& r)
    {
        MIRA_REFLECT_BASE(r, MicroUnit);
    }

protected:

    virtual void initialize();

private:
    void onNewData(ChannelRead<float> data);

private:
    std::deque<float> mQueue;
    Channel<float> mMeanChannel;
};

MeanCalculator::MeanCalculator()
{
}

void MeanCalculator::initialize()
{
    subscribe<float>("FloatChannel", &MeanCalculator::onNewData);
    mMeanChannel = publish<float>("MeanChannel");
}

void MeanCalculator::onNewData(ChannelRead<float> data)
{
    mQueue.push_back(data->value());
    if (mQueue.size() > 10)
        mQueue.pop_front();
    float sum = 0.0;
    foreach(float f, mQueue)
        sum += f;
    float mean = sum / mQueue.size();

    std::cout << "MeanCalculator: " << mean << std::endl;

    ChannelWrite<float> w = mMeanChannel.write();
    w->value() = mean;
}

}
MIRA_CLASS_SERIALIZATION(tutorials::MeanCalculator, mira::MicroUnit );