Gx3_25_imu.h

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// %flair:license{
// This file is part of the Flair framework distributed under the
// CECILL-C License, Version 1.0.
// %flair:license}
#ifndef GX3_25_IMU_H
#define GX3_25_IMU_H

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

namespace flair {
namespace core {
class FrameworkManager;
class SerialPort;
}
}

class Gx3_25_imu_impl;

namespace flair {
namespace sensor {
class Gx3_25_imu : public Imu, public core::Thread {
  friend class ::Gx3_25_imu_impl;

public:
  enum Command_t {
    EulerAnglesAndAngularRates = 0xcf, 
    AccelerationAngularRateAndOrientationMatrix =
        0xc8, 
    Quaternion = 0xdf, 
  };

  Gx3_25_imu(std::string name,
             core::SerialPort *serialport, Command_t command, uint8_t priority);

  ~Gx3_25_imu();

private:
  void Run(void);

  void UpdateFrom(const core::io_data *data){};

  class Gx3_25_imu_impl *pimpl_;
};
} // end namespace sensor
} // end namespace flair

#endif // GX3_25_IMU_H