#include <myahrs_plus.hpp>
Classes | |
class | EventItem |
class | EventQueue |
class | Protocol |
class | ResponsQueue |
Public Member Functions | |
bool | cmd_ascii_data_format (const char *asc_output=0, int timeout_msec=500) |
bool | cmd_baudrate (int timeout_msec=500) |
bool | cmd_baudrate (const char *baudrate, int timeout_msec=500) |
bool | cmd_binary_data_format (const char *bin_output=0, int timeout_msec=500) |
bool | cmd_calibration_parameter (char sensor_type, const char *calibration_parameters=0, int timeout_msec=500) |
bool | cmd_clear_user_orientation_offset (int timeout_msec=500) |
bool | cmd_divider (int timeout_msec=500) |
bool | cmd_divider (const char *divider, int timeout_msec=500) |
bool | cmd_id (int timeout_msec=500) |
bool | cmd_id (const char *str_sensor_id, int timeout_msec=500) |
bool | cmd_mode (const char *mode_string=0, int timeout_msec=500) |
bool | cmd_ping (int timeout_msec=500) |
bool | cmd_restore_all_default (int timeout_msec=500) |
bool | cmd_save (int timeout_msec=500) |
bool | cmd_sensitivity (int timeout_msec=500) |
bool | cmd_serial_number (int timeout_msec=500) |
bool | cmd_set_user_orientation_offset (int timeout_msec=500) |
bool | cmd_set_user_orientation_offset (const char *enable_yaw_offset, int timeout_msec=500) |
void | cmd_trigger () |
bool | cmd_version (int timeout_msec=500) |
bool | get_attribute (const char *attrib_name, std::string &attrib_value) |
std::vector< std::string > | get_attribute_list () |
SensorData | get_data () |
void | get_data (SensorData &data) |
int | get_sensor_id () |
iMyAhrsPlus (std::string port_name="", unsigned int baudrate=115200) | |
bool | resync () |
const char * | sdk_version () |
bool | start (std::string port_name="", int baudrate=-1) |
void | stop () |
virtual | ~iMyAhrsPlus () |
Protected Member Functions | |
virtual void | OnAttributeChange (int sensor_id, std::string attribute_name, std::string value) |
virtual void | OnSensorData (int sensor_id, SensorData sensor_data) |
Private Types | |
typedef bool(iMyAhrsPlus::* | AscHandler) (std::vector< std::string > &tokens) |
typedef bool(iMyAhrsPlus::* | AscRspHandler) (std::map< std::string, std::string > &attributes) |
typedef bool(iMyAhrsPlus::* | BinHandler) (iNodeParser::Node &node) |
Private Member Functions | |
bool | ascii_parse_response (std::vector< std::string > &tokens) |
bool | ascii_rsp_asc_out (std::map< std::string, std::string > &attributes) |
bool | ascii_rsp_baudrate (std::map< std::string, std::string > &attributes) |
bool | ascii_rsp_bin_out (std::map< std::string, std::string > &attributes) |
bool | ascii_rsp_calib (std::map< std::string, std::string > &attributes) |
bool | ascii_rsp_divider (std::map< std::string, std::string > &attributes) |
bool | ascii_rsp_factory (std::map< std::string, std::string > &attributes) |
bool | ascii_rsp_id (std::map< std::string, std::string > &attributes) |
bool | ascii_rsp_mode (std::map< std::string, std::string > &attributes) |
bool | ascii_rsp_ping (std::map< std::string, std::string > &attributes) |
bool | ascii_rsp_save (std::map< std::string, std::string > &attributes) |
bool | ascii_rsp_sensitivity (std::map< std::string, std::string > &attributes) |
bool | ascii_rsp_serial_number (std::map< std::string, std::string > &attributes) |
bool | ascii_rsp_stat (std::map< std::string, std::string > &attributes) |
bool | ascii_rsp_trigger (std::map< std::string, std::string > &attributes) |
bool | ascii_rsp_user_orientation (std::map< std::string, std::string > &attributes) |
bool | ascii_rsp_version (std::map< std::string, std::string > &attributes) |
bool | ascii_update_euler (std::vector< std::string > &tokens) |
bool | ascii_update_imu (std::vector< std::string > &tokens) |
bool | ascii_update_quaternion (std::vector< std::string > &tokens) |
bool | ascii_update_quatimu (std::vector< std::string > &tokens) |
bool | ascii_update_riimu (std::vector< std::string > &tokens) |
bool | ascii_update_rpyimu (std::vector< std::string > &tokens) |
bool | binary_parse_response (std::vector< iNodeParser::Node > &node_list) |
bool | binary_update_euler (iNodeParser::Node &node) |
bool | binary_update_imu (iNodeParser::Node &node) |
bool | binary_update_quaternion (iNodeParser::Node &node) |
bool | binary_update_riimu (iNodeParser::Node &node) |
bool | binary_update_sequence (iNodeParser::Node &node) |
void | clear_all_attribute () |
void | dbg_show_all_attributes (std::map< std::string, std::string > &attributes) |
iMyAhrsPlus (iMyAhrsPlus &rhs) | |
float | int16tofloat (int16_t value, float value_max) |
bool | is_exist (const std::string &attribute_name) |
void | proc_callback () |
void | proc_receiver () |
bool | send_command (std::string command_string, int timeout_msec) |
void | set_attribute (const std::string &attribute_name, const std::string &value) |
Static Private Member Functions | |
static void * | thread_proc_callback (void *arg) |
static void * | thread_proc_receiver (void *arg) |
Private Attributes | |
bool | activate_user_event |
std::map< std::string, AscHandler > | ascii_handler_data_map |
std::map< std::string, AscRspHandler > | ascii_handler_rsp_map |
std::map< std::string, std::string > | attribute_map |
std::map< std::string, BinHandler > | binary_handler_data_map |
bool | debug |
class WithRobot::iMyAhrsPlus::EventQueue | event_queue |
Platform::Mutex | mutex_attribute |
Platform::Mutex | mutex_communication |
WithRobot::iMyAhrsPlus::Protocol | protocol |
class WithRobot::iMyAhrsPlus::ResponsQueue | response_message_queue |
SensorData | sensor_data |
int | sensor_id |
Platform::SerialPort | serial |
Platform::Thread | thread_event |
Platform::Thread | thread_receiver |
bool | thread_receiver_ready |
Static Private Attributes | |
static const int | ACCEL_RANGE = 16 |
static const int | EULER_RANGE = 180 |
static const int | GYRO_RANGE = 2000 |
static const int | MAGNET_RANGE = 300 |
static const int | TEMP_RANGE = 200 |
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Reimplemented in WithRobot::MyAhrsPlus, and MyAhrsDriverForROS.
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Reimplemented in WithRobot::MyAhrsPlus, and MyAhrsDriverForROS.
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