source: flair-dev/trunk/include/FlairSensorActuator/Gx3_25_imu.h @ 4

// %flair:license{
// This file is part of the Flair framework distributed under the
// CECILL-C License, Version 1.0.
// %flair:license}
/*!
 * \file Gx3_25_imu.h
 * \brief Class for 3dmgx3-25 Imu
 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
 * \date 2011/08/19
 * \version 4.0
 */

#ifndef GX3_25_IMU_H
#define GX3_25_IMU_H

#include <Imu.h>
#include <Thread.h>

namespace flair {
    namespace core {
        class FrameworkManager;
        class SerialPort;
    }
}

class Gx3_25_imu_impl;

namespace flair { namespace sensor {
    /*! \class Gx3_25_imu
    *
    * \brief Class for 3dmgx3-25 Imu
    */
    class Gx3_25_imu : public Imu, public core::Thread {
        friend class ::Gx3_25_imu_impl;

        public:
            /*!
            \enum Command_t
            \brief Command for the continuous mode
            */
            enum Command_t{
                EulerAnglesAndAngularRates=0xcf,/*!< Euler angles and angular rates */
                AccelerationAngularRateAndOrientationMatrix=0xc8,/*!< Acceleration, angular rate and orientation matrix */
                };

            /*!
            * \brief Constructor
            *
            * Construct a Gx3_25_imu.
            *
            * \param parent parent
            * \param name name
            * \param serialport SerialPort
            * \param command command for continuous mode
            * \param priority priority of the Thread
            */
            Gx3_25_imu(const core::FrameworkManager* parent,std::string name,core::SerialPort *serialport,Command_t command,uint8_t priority);

            /*!
            * \brief Destructor
            *
            */
            ~Gx3_25_imu();

        private:
            /*!
            * \brief Run function
            *
            * Reimplemented from Thread.
            *
            */
            void Run(void);

            /*!
            * \brief Update using provided datas
            *
            * Reimplemented from IODevice.
            *
            * \param data data from the parent to process
            */
            void UpdateFrom(const core::io_data *data){};

            class Gx3_25_imu_impl* pimpl_;
    };
} // end namespace sensor
} // end namespace flair

#endif // GX3_25_IMU_H