embObjIMU.h

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/*
 * Copyright (C) 2006-2018 Istituto Italiano di Tecnologia (IIT)
 * All rights reserved.
 * Author: Valentina Gaggero
 * This software may be modified and distributed under the terms of the
 * BSD-3-Clause license. See the accompanying LICENSE file for details.
 */
 
 
#ifndef __embObjIMU_h__
#define __embObjIMU_h__
 
#include <string>
#include <yarp/dev/DeviceDriver.h>
 
#include <yarp/dev/MultipleAnalogSensorsInterfaces.h>
 
#include "IethResource.h"
 
 
 
namespace yarp {
    namespace dev {
        class embObjIMU;
    }
}
 
class yarp::dev::embObjIMU :            public DeviceDriver,
                                        public yarp::dev::IThreeAxisGyroscopes,
                                        public yarp::dev::IThreeAxisLinearAccelerometers,
                                        public yarp::dev::IThreeAxisMagnetometers,
                                        public yarp::dev::IOrientationSensors,
                                        public eth::IethResource
{
 
public:
    embObjIMU();
    ~embObjIMU();
 
    // Device Driver interface
    virtual bool open(yarp::os::Searchable &config) override;
    virtual bool close() override;
 
    /* IThreeAxisGyroscopes methods */
    virtual size_t getNrOfThreeAxisGyroscopes() const override;
    virtual yarp::dev::MAS_status getThreeAxisGyroscopeStatus(size_t sens_index) const override;
    virtual bool getThreeAxisGyroscopeName(size_t sens_index, std::string &name) const override;
    virtual bool getThreeAxisGyroscopeFrameName(size_t sens_index, std::string &frameName) const override;
    virtual bool getThreeAxisGyroscopeMeasure(size_t sens_index, yarp::sig::Vector& out, double& timestamp) const override;
 
    /* IThreeAxisLinearAccelerometers methods */
    virtual size_t getNrOfThreeAxisLinearAccelerometers() const override;
    virtual yarp::dev::MAS_status getThreeAxisLinearAccelerometerStatus(size_t sens_index) const override;
    virtual bool getThreeAxisLinearAccelerometerName(size_t sens_index, std::string &name) const override;
    virtual bool getThreeAxisLinearAccelerometerFrameName(size_t sens_index, std::string &frameName) const override;
    virtual bool getThreeAxisLinearAccelerometerMeasure(size_t sens_index, yarp::sig::Vector& out, double& timestamp) const override;
 
    /* IThreeAxisMagnetometers methods */
    virtual size_t getNrOfThreeAxisMagnetometers() const override;
    virtual yarp::dev::MAS_status getThreeAxisMagnetometerStatus(size_t sens_index) const override;
    virtual bool getThreeAxisMagnetometerName(size_t sens_index, std::string &name) const override;
    virtual bool getThreeAxisMagnetometerFrameName(size_t sens_index, std::string &frameName) const override;
    virtual bool getThreeAxisMagnetometerMeasure(size_t sens_index, yarp::sig::Vector& out, double& timestamp) const override;
 
    /* IOrientationSensors methods */
    virtual size_t getNrOfOrientationSensors() const override;
    virtual yarp::dev::MAS_status getOrientationSensorStatus(size_t sens_index) const override;
    virtual bool getOrientationSensorName(size_t sens_index, std::string &name) const override;
    virtual bool getOrientationSensorFrameName(size_t sens_index, std::string &frameName) const override;
    virtual bool getOrientationSensorMeasureAsRollPitchYaw(size_t sens_index, yarp::sig::Vector& rpy, double& timestamp) const override;
 
 
    /* Iethresource methods */
    virtual bool initialised();
    virtual eth::iethresType_t type();
    virtual bool update(eOprotID32_t id32, double timestamp, void* rxdata);
 
 
private:
    
    void *mPriv;
    
    std::string getBoardInfo(void) const;
    std::pair <size_t, eOas_sensor_t> getGyroSubIndex(size_t sens_index) const;
    std::pair <size_t, eOas_sensor_t> getAccSubIndex(size_t sens_index) const;
    void cleanup(void);
    
    //debug
    void updateDebugPrints(eOprotID32_t id32, double timestamp, void* rxdata);
    
};
 
#endif //__embObjIMU_h__