source: flair-src/tags/latest/lib/FlairIpc/src/IpcImu.h@ 456

Last change on this file since 456 was 397, checked in by Sanahuja Guillaume, 15 months ago

add ipc lib

  • Property svn:eol-style set to native
File size: 2.0 KB
Line 
1// %flair:license{
2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
4// %flair:license}
5/*!
6 * \file IpcImu.h
7 * \brief Class for an ipc Imu
8 * \author Sébastien Ambroziak, Copyright Heudiasyc UMR UTC/CNRS 7253
9 * \date 2021/03/03
10 * \version 4.0
11 */
12
13#ifndef IPCIMU_H
14#define IPCIMU_H
15
16#include <Imu.h>
17#include <Thread.h>
18
19namespace flair {
20 namespace core {
21 class AhrsData;
22 }
23 namespace gui {
24 class SpinBox;
25 }
26}
27
28namespace ipc{
29 namespace type{
30 struct imu;
31 struct ahrs;
32 struct vector3D_32;
33 struct vector4D_32;
34 }
35}
36
37template <typename T>
38class IpcReceiver;
39
40namespace flair {
41namespace sensor {
42/*! \class IpcImu
43*
44* \brief Class for an Ipc Imu
45*/
46class IpcImu : public Imu, public core::Thread {
47public:
48 /*!
49 * \brief Constructor
50 *
51 * Construct an IpcImu.
52 * It will be child of the FrameworkManager.
53 *
54 * \param name name
55 * \param priority priority of the Thread
56 * \param ipc_name name of the ipc
57 * \param ipc_channel ipc channel number
58 * \param AhrsOnly AhrsOnly
59 */
60 IpcImu(std::string name, uint8_t priority,
61 const char* ipc_name, int ipc_channel, bool AhrsOnly=true);
62
63 /*!
64 * \brief Destructor
65 *
66 */
67 ~IpcImu();
68
69private:
70 /*!
71 * \brief Run function
72 *
73 * Reimplemented from Thread.
74 *
75 */
76 void Run(void);
77
78 /*!
79 * \brief Update using provided datas
80 *
81 * Reimplemented from IODevice.
82 *
83 * \param data data from the parent to process
84 */
85 void UpdateFrom(const core::io_data *data){};
86
87 typedef struct {
88 float q0;
89 float q1;
90 float q2;
91 float q3;
92 float wx;
93 float wy;
94 float wz;
95 float ax;
96 float ay;
97 float az;
98 float mx;
99 float my;
100 float mz;
101 } imu_states_t;
102
103 IpcReceiver<ipc::type::imu>* ImuReceiver;
104 IpcReceiver<ipc::type::ahrs>* AhrsReceiver;
105 IpcReceiver<ipc::type::vector4D_32>* orientation_quat;
106 IpcReceiver<ipc::type::vector3D_32>* angular_vel;
107 gui::SpinBox *dataRate;
108 core::AhrsData *ahrsData;
109 bool _AhrsOnly;
110};
111} // end namespace sensor
112} // end namespace flair
113#endif // IPCIMU_H
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