source: flair-dev/trunk/include/FlairSensorActuator/SimuImu.h@ 11

// %flair:license{
// This file is part of the Flair framework distributed under the
// CECILL-C License, Version 1.0.
// %flair:license}
/*!
 * \file SimuImu.h
 * \brief Class for a simulation Imu
 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
 * \date 2014/02/07
 * \version 4.0
 */

#ifndef SIMUIMU_H
#define SIMUIMU_H

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

namespace flair {
    namespace core     {
        class SharedMem;
        class AhrsData;
    }
    namespace gui {
        class SpinBox;
    }
}

namespace flair { namespace sensor {
    /*! \class SimuImu
    *
    * \brief Class for a simulation Imu
    */
    class SimuImu : public Imu, public core::Thread {
        public:
            /*!
            * \brief Constructor
            *
            * Construct a SimuImu. Control part.
            *
            * \param parent parent
            * \param name name
            * \param dev_id device id
            * \param priority priority of the Thread
            */
            SimuImu(const core::FrameworkManager* parent,std::string name,uint32_t dev_id,uint8_t priority);

            /*!
            * \brief Constructor
            *
            * Construct a SimuImu. Simulation part.\n
            * The Thread of this class should not be run.
            *
            * \param parent parent
            * \param name name
            * \param dev_id device id
            */
            SimuImu(const core::IODevice* parent,std::string name,uint32_t dev_id);

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

        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);

            typedef struct {
                float q0;
                float q1;
                float q2;
                float q3;
                float wx;
                float wy;
                float wz;
            } imu_states_t;
            gui::SpinBox *data_rate;
            core::SharedMem *shmem;
            core::AhrsData *ahrsData;
    };
} // end namespace sensor
} // end namespace flair
#endif // SIMUIMU_H