XSensMTx.h

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// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
/*
 * Copyright (C) 2006 Radu Bogdan Rusu, Alexis Maldonado
 * CopyPolicy: Released under the terms of the GNU GPL v2.0.
 *
 */
 
#ifndef __XSENSMTX__
#define __XSENSMTX__
 
#include "MTComm.h"
#include <yarp/dev/DeviceDriver.h>
#include <yarp/dev/IGenericSensor.h>
#include <yarp/dev/MultipleAnalogSensorsInterfaces.h>
#include <yarp/os/Stamp.h>
#include <yarp/dev/IPreciselyTimed.h>
#include <string>
 
namespace yarp{
    namespace dev{
        class XSensMTx;
    }
}
 
struct XSensMTxParameters
{
    std::string comPortString;
    short comPort;
};
 
class yarp::dev::XSensMTx : public yarp::dev::IGenericSensor,
                            public yarp::dev::IPreciselyTimed,
                            public DeviceDriver,
                            public yarp::dev::IThreeAxisGyroscopes,
                            public yarp::dev::IThreeAxisLinearAccelerometers,
                            public yarp::dev::IThreeAxisMagnetometers,
                            public yarp::dev::IOrientationSensors
{
public:
    XSensMTx();
    virtual ~XSensMTx();
    
    // IGenericSensor interface.
    bool read(yarp::sig::Vector &out) override;
    bool getChannels(int *nc) override;
    bool open(yarp::os::Searchable &config) override;
    bool calibrate(int ch, double v) override;
    bool close() override;
 
    yarp::os::Stamp getLastInputStamp() override;
 
    /* IThreeAxisGyroscopes methods */
    size_t getNrOfThreeAxisGyroscopes() const override;
 
    yarp::dev::MAS_status getThreeAxisGyroscopeStatus(size_t sens_index) const override;
 
    bool getThreeAxisGyroscopeName(size_t sens_index, std::string &name) const override;
 
    bool getThreeAxisGyroscopeFrameName(size_t sens_index, std::string &frameName) const override;
 
    bool getThreeAxisGyroscopeMeasure(size_t sens_index, yarp::sig::Vector& out, double& timestamp) const override;
 
    /* IThreeAxisLinearAccelerometers methods */
    size_t getNrOfThreeAxisLinearAccelerometers() const override;
 
    yarp::dev::MAS_status getThreeAxisLinearAccelerometerStatus(size_t sens_index) const override;
 
    bool getThreeAxisLinearAccelerometerName(size_t sens_index, std::string &name) const override;
 
    bool getThreeAxisLinearAccelerometerFrameName(size_t sens_index, std::string &frameName) const override;
 
    bool getThreeAxisLinearAccelerometerMeasure(size_t sens_index, yarp::sig::Vector& out, double& timestamp) const override;
 
    /* IThreeAxisMagnetometers methods */
    size_t getNrOfThreeAxisMagnetometers() const override;
 
    yarp::dev::MAS_status getThreeAxisMagnetometerStatus(size_t sens_index) const override;
 
    bool getThreeAxisMagnetometerName(size_t sens_index, std::string &name) const override;
 
    bool getThreeAxisMagnetometerFrameName(size_t sens_index, std::string &frameName) const override;
 
    bool getThreeAxisMagnetometerMeasure(size_t sens_index, yarp::sig::Vector& out, double& timestamp) const override;
 
    /* IOrientationSensors methods */
    size_t getNrOfOrientationSensors() const override;
 
    yarp::dev::MAS_status getOrientationSensorStatus(size_t sens_index) const override;
 
    bool getOrientationSensorName(size_t sens_index, std::string &name) const override;
 
    bool getOrientationSensorFrameName(size_t sens_index, std::string &frameName) const override;
 
    bool getOrientationSensorMeasureAsRollPitchYaw(size_t sens_index, yarp::sig::Vector& rpy, double& timestamp) const override;
 
    // Open the device
    bool open(const XSensMTxParameters &par);
 
private:
    bool start();
    bool stop();
 
    yarp::dev::MAS_status genericGetStatus(size_t sens_index) const;
    bool genericGetSensorName(size_t sens_index, std::string &name) const;
    bool genericGetFrameName(size_t sens_index, std::string &frameName) const;
    bool genericGetMeasure(size_t sens_index, yarp::sig::Vector& out, double& timestamp, size_t startIdx) const;
    void *system_resources;
    int nchannels;
    std::string m_sensorName;
    std::string m_frameName;
    yarp::os::Stamp lastStamp;
};
 
 
#endif