// %flair:license{
// This file is part of the Flair framework distributed under the
// CECILL-C License, Version 1.0.
// %flair:license}
/*!
 * \file ImuData.h
 * \brief Class defining IMU datas
 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
 * \date 2014/01/15
 * \version 4.0
 */
#ifndef IMUDATA_H
#define IMUDATA_H

#include <io_data.h>
#include <IODataElement.h>
#include <Vector3D.h>

namespace flair { namespace core {

    /*! \class ImuData
    *
    * \brief Class defining IMU datas
    *
    * IMU (inertial measurement unit) datas consist of raw accelerometer values, raw gyrometer values
    * and raw magnetometer values.
    *
    */
    class ImuData: public io_data {
        public:
            class Type: public DataType {
            public:
                Type(ScalarType const &_elementDataType):
                    elementDataType(_elementDataType){}
                ScalarType const &GetElementDataType() const {return elementDataType;}
                std::string GetDescription() const {return "imu data";}
                size_t GetSize() const {
                    size_t size=0;
                    size+=3*elementDataType.GetSize();//RawAcc
                    size+=3*elementDataType.GetSize();//RawGyr
                    size+=3*elementDataType.GetSize();//RawMag
                    return size;
                }
            private:
                ScalarType const &elementDataType;
            };

            /*!
            \enum PlotableData_t
            \brief Datas wich can be plotted in a DataPlot1D
            */
            typedef enum {
                RawAx/*! x raw accelerometer */, RawAy/*! y raw accelerometer */ ,RawAz/*! z raw accelerometer */,
                RawGx/*! x raw gyrometer */,RawGy/*! y raw gyrometer */,RawGz/*! z raw gyrometer */,
                RawGxDeg/*! x raw gyrometer degree */,RawGyDeg/*! y raw gyrometer degree */,RawGzDeg/*! z raw gyrometer degree */,
                RawMx/*! x raw magnetometer */,RawMy/*! y raw magnetometer */,RawMz/*! z raw magnetometer */
                } PlotableData_t;

            /*!
            * \brief Constructor
            *
            * Construct an io_data representing IMU datas. \n
            *
            * \param parent parent
            * \param name name
            * \param n number of samples
            */
            ImuData(const Object* parent,std::string name="",int n=1);

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

            /*!
            * \brief Element
            *
            * Get a pointer to a specific element. This pointer can be used for plotting.
            *
            * \param data_type data type
            *
            * \return pointer to the element
            */
            IODataElement* Element(PlotableData_t data_type) const;

            /*!
            * \brief Get raw accelerations
            *
            * This method is mutex protected.
            *
            * \return raw accelerations
            *
            */
            Vector3D GetRawAcc(void) const;

            /*!
            * \brief Get raw magnetometers
            *
            * This method is mutex protected.
            *
            * \return raw magnetometers
            *
            */
            Vector3D GetRawMag(void) const;

            /*!
            * \brief Get raw angular speed
            *
            * This method is mutex protected.
            *
            * \return raw angular speed
            *
            */
            Vector3D GetRawGyr(void) const;

            /*!
            * \brief Get raw accelerations, magnetometers and angular speeds
            *
            * This method is mutex protected.
            *
            * \param rawAcc raw accelerations
            * \param rawMag raw magnetometers
            * \param rawGyr raw angular speeds
            *
            */
            void GetRawAccMagAndGyr(Vector3D &rawAcc,Vector3D &rawMag,Vector3D &rawGyr) const;

            /*!
            * \brief Set raw accelerations
            *
            * This method is mutex protected.
            *
            * \param raw accelerations
            *
            */
            void SetRawAcc(const Vector3D &rawAcc);

            /*!
            * \brief Set raw magnetometers
            *
            * This method is mutex protected.
            *
            * \param raw magnetometers
            *
            */
            void SetRawMag(const Vector3D &rawMag);

            /*!
            * \brief Set raw angular speed
            *
            * This method is mutex protected.
            *
            * \param raw angular speed
            *
            */
            void SetRawGyr(const Vector3D &rawGyr);

            /*!
            * \brief Set raw accelerations, magnetometers and angular speeds
            *
            * This method is mutex protected.
            *
            * \param rawAcc raw accelerations
            * \param rawMag raw magnetometers
            * \param rawGyr raw angular speeds
            *
            */
            void SetRawAccMagAndGyr(const Vector3D &rawAcc,const Vector3D &rawMag,const Vector3D &rawGyr);

            Type const&GetDataType() const {return dataType;}
        private:
            /*!
            * \brief Copy datas
            *
            * Reimplemented from io_data. \n
            * See io_data::CopyDatas.
            *
            * \param dst destination buffer
            */
            void CopyDatas(char* dst) const;

            /*!
            * \brief Raw accelerometer
            *
            */
            Vector3D rawAcc;

            /*!
            * \brief Raw gyrometer
            *
            */
            Vector3D rawGyr;

            /*!
            * \brief Raw magnetometer
            *
            */
            Vector3D rawMag;

            void Queue(char** dst,const void *src,size_t size) const;
            Type dataType;

    };

} // end namespace core
} // end namespace flair

#endif // IMUDATA_H