| 1 | // %flair:license{
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| 2 | // This file is part of the Flair framework distributed under the
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| 3 | // CECILL-C License, Version 1.0.
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| 4 | // %flair:license}
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| 5 | /*!
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| 6 | * \file SimuImu.h
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| 7 | * \brief Class for a simulation Imu
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| 8 | * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
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| 9 | * \date 2014/02/07
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| 10 | * \version 4.0
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| 11 | */
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| 12 |
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| 13 | #ifndef SIMUIMU_H
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| 14 | #define SIMUIMU_H
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| 15 |
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| 16 | #include <Imu.h>
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| 17 | #include <Thread.h>
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| 18 |
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| 19 | namespace flair {
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| 20 | namespace core {
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| 21 | class SharedMem;
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| 22 | class AhrsData;
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| 23 | }
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| 24 | namespace gui {
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| 25 | class SpinBox;
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| 26 | }
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| 27 | }
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| 28 |
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| 29 | namespace flair {
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| 30 | namespace sensor {
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| 31 | /*! \class SimuImu
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| 32 | *
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| 33 | * \brief Class for a simulation Imu
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| 34 | */
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| 35 | class SimuImu : public Imu, public core::Thread {
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| 36 | public:
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| 37 | /*!
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| 38 | * \brief Constructor
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| 39 | *
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| 40 | * Construct a SimuImu. Control part.
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| 41 | * It will be child of the FrameworkManager.
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| 42 | *
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| 43 | * \param name name
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| 44 | * \param modelId Model id
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| 45 | * \param deviceId Imu id of the Model
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| 46 | * \param priority priority of the Thread
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| 47 | */
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| 48 | SimuImu(std::string name,
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| 49 | uint32_t modelId,uint32_t deviceId, uint8_t priority);
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| 50 |
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| 51 | /*!
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| 52 | * \brief Constructor
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| 53 | *
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| 54 | * Construct a SimuImu. Simulation part.\n
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| 55 | * The Thread of this class should not be run.
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| 56 | *
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| 57 | * \param parent parent
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| 58 | * \param name name
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| 59 | * \param modelId Model id
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| 60 | * \param deviceId Imu id of the Model
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| 61 | */
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| 62 | SimuImu(const core::IODevice *parent, std::string name, uint32_t modelId,uint32_t deviceId);
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| 63 |
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| 64 | /*!
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| 65 | * \brief Destructor
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| 66 | *
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| 67 | */
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| 68 | ~SimuImu();
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| 69 |
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| 70 | private:
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| 71 | /*!
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| 72 | * \brief Run function
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| 73 | *
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| 74 | * Reimplemented from Thread.
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| 75 | *
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| 76 | */
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| 77 | void Run(void);
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| 78 |
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| 79 | /*!
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| 80 | * \brief Update using provided datas
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| 81 | *
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| 82 | * Reimplemented from IODevice.
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| 83 | *
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| 84 | * \param data data from the parent to process
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| 85 | */
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| 86 | void UpdateFrom(const core::io_data *data);
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| 87 |
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| 88 | typedef struct {
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| 89 | float q0;
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| 90 | float q1;
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| 91 | float q2;
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| 92 | float q3;
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| 93 | float wx;
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| 94 | float wy;
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| 95 | float wz;
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| 96 | float ax;
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| 97 | float ay;
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| 98 | float az;
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| 99 | float mx;
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| 100 | float my;
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| 101 | float mz;
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| 102 | } imu_states_t;
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| 103 |
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| 104 | std::string ShMemName(uint32_t modelId,uint32_t deviceId);
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| 105 |
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| 106 | gui::SpinBox *dataRate;
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| 107 | core::SharedMem *shmem;
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| 108 | core::AhrsData *ahrsData;
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| 109 | };
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| 110 | } // end namespace sensor
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| 111 | } // end namespace flair
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| 112 | #endif // SIMUIMU_H
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