// %flair:license{
// This file is part of the Flair framework distributed under the
// CECILL-C License, Version 1.0.
// %flair:license}
/*!
 * \file Imu.h
 * \brief Base class for Imu
 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
 * \date 2014/01/16
 * \version 4.0
 */

#ifndef IMU_H
#define IMU_H

#include <IODevice.h>

namespace flair {
    namespace core {
        class ImuData;
        class OneAxisRotation;
    }
    namespace gui {
        class Tab;
        class TabWidget;
        class GroupBox;
        class Layout;
        class DataPlot1D;
    }
}

class Ahrs_impl;

namespace flair { namespace sensor {
    /*! \class Imu
    *
    * \brief Base class for Imu
    *
    * Use this class to define a custom Imu.
    *
    */
    class Imu : public core::IODevice {
        friend class ::Ahrs_impl;

        public:
            /*!
            * \brief Constructor
            *
            * Construct an Imu.
            *
            * \param parent parent
            * \param name name
            */
            Imu(const core::FrameworkManager *parent,std::string name);

            /*!
            * \brief Constructor
            *
            * Construct an Imu. \n
            * This contructor must only be called for a simulated device.
            *
            * \param parent parent
            * \param name name
            */
            Imu(const core::IODevice *parent,std::string name);

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

            /*!
            * \brief Setup Layout
            *
            * \return setup Layout
            */
            gui::Layout *GetLayout(void) const;

            /*!
            * \brief Lock user interface
            *
            */
            void LockUserInterface(void) const;

            /*!
            * \brief Unlock user interface
            *
            */
            void UnlockUserInterface(void) const;

            /*!
            * \brief Use default plot
            *
            */
            void UseDefaultPlot(void);

            /*!
            * \brief Plot tab
            *
            * \return plot Tab
            */
            gui::Tab *GetPlotTab(void) const;

        protected:
            /*!
            * \brief Setup GroupBox
            *
            * \return setup GroupBox
            */
            gui::GroupBox *GetGroupBox(void) const;

            /*!
            * \brief UpdateImu
            *
            * The reimplemented class must call this function as soon as IMU datas are available. \n
            * It handles the data rotation if it was defined.
            *
            */
            void UpdateImu();

            /*!
            * \brief Get imu datas
            *
            * \param imuData imu datas
            */
            void GetDatas(core::ImuData **imuData) const;


        private:
            gui::Tab *mainTab,*sensorTab,*plotTab;
            gui::TabWidget* tab;
            gui::GroupBox *setupGroupbox;
            core::OneAxisRotation* rotation;
            core::ImuData *imuData;

            gui::DataPlot1D *axPlot,*ayPlot,*azPlot;
            gui::DataPlot1D *gxPlot,*gyPlot,*gzPlot;
            gui::DataPlot1D *mxPlot,*myPlot,*mzPlot;
    };
} // end namespace sensor
} // end namespace flair

#endif // IMU_H