MKCalibrator.hpp

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/*
 * MKCalibrator.hpp
 *
 *  Created on: Dec 7, 2011
 *      Author: mriedel
 */

#ifndef MKCALIBRATOR_HPP_
#define MKCALIBRATOR_HPP_

#include <telekyb_defines/telekyb_defines.hpp>

#include <tk_mkinterface/MKData.hpp>
#include <tk_mkinterface/MKInterfaceConnection.hpp>

#include <telekyb_base/Options.hpp>

namespace TELEKYB_NAMESPACE {

struct GyroDrifts {
        int x;
        int y;
        int z;
        GyroDrifts() {
                x = 0;
                y = 0;
                z = 0;
        }
};

class MKCalibratorOptions : public OptionContainer {
public:
        Option<double>* tDriftEstimTimeout;
        Option<int>* tDriftEstimDeltaThreshold;
        MKCalibratorOptions();
};

class MKCalibrator : public MKDataListener {
protected:
        MKCalibratorOptions options;
        MKInterfaceConnection* connection;
        bool gyroDriftEstimRunning;

        // Algorithm Variables
        GyroDrifts driftCounters; // counters for x,y,z
        GyroDrifts driftEstimDone; // 0: not done. other: done!

        GyroDrifts minDrifts;
        GyroDrifts maxDrifts;

public:
        MKCalibrator(MKInterfaceConnection* connection_);
        virtual ~MKCalibrator();

        bool doGyroDriftEstim();

        // Listener CB
        void dataValueUpdated(MKValue* value);
};

} /* namespace telekyb */
#endif /* MKCALIBRATOR_HPP_ */