magnetometer.h

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/*
 * Copyright (c) 2019, Open Source Robotics Foundation
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
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 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
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 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#ifndef PHIDGETS_API_MAGNETOMETER_H
#define PHIDGETS_API_MAGNETOMETER_H
 
#include <functional>
 
#include <libphidget22/phidget22.h>
 
#include "phidgets_api/phidget22.h"
 
namespace phidgets {
 
class Magnetometer final
{
  public:
    PHIDGET22_NO_COPY_NO_MOVE_NO_ASSIGN(Magnetometer)
 
    explicit Magnetometer(
        int32_t serial_number, int hub_port, bool is_hub_port_device,
        std::function<void(const double[3], double)> data_handler);
 
    ~Magnetometer();
 
    void setCompassCorrectionParameters(double cc_mag_field, double cc_offset0,
                                        double cc_offset1, double cc_offset2,
                                        double cc_gain0, double cc_gain1,
                                        double cc_gain2, double cc_T0,
                                        double cc_T1, double cc_T2,
                                        double cc_T3, double cc_T4,
                                        double cc_T5);
 
    void getMagneticField(double &x, double &y, double &z,
                          double &timestamp) const;
 
    void setDataInterval(uint32_t interval_ms) const;
 
    void dataHandler(const double magnetic_field[3], double timestamp) const;
 
  private:
    std::function<void(const double[3], double)> data_handler_;
    PhidgetMagnetometerHandle mag_handle_;
 
    static void DataHandler(PhidgetMagnetometerHandle input_handle, void *ctx,
                            const double magnetic_field[3], double timestamp);
};
 
}  // namespace phidgets
 
#endif  // PHIDGETS_API_MAGNETOMETER_H