00001 /* 00002 * SerialIMUDevice.hpp 00003 * 00004 * Created on: Jul 11, 2012 00005 * Author: mriedel 00006 */ 00007 00008 #ifndef SERIALIMUDEVICE_HPP_ 00009 #define SERIALIMUDEVICE_HPP_ 00010 00011 #include <telekyb_defines/telekyb_defines.hpp> 00012 #include <telekyb_serial/ThreadedSerialDevice.hpp> 00013 00014 #include <telekyb_base/Time.hpp> 00015 00016 #include "SerialIMUDeviceOptions.hpp" 00017 00018 // 10 Data + 1 CRC + \r 00019 #define SERIAL_MSG_SIZE 13 00020 00021 // TODO: This Element is not copyable. (Because it's a Listener!!!) 00022 00023 namespace TELEKYB_NAMESPACE { 00024 00025 // 10bit 0-1024 00026 struct RawImuData { 00027 unsigned int accX; 00028 unsigned int accY; 00029 unsigned int accZ; 00030 unsigned int gyroRoll; 00031 unsigned int gyroPitch; 00032 unsigned int gyroYaw; 00033 }; 00034 00035 class RawImuDataListener { 00036 public: 00037 virtual ~RawImuDataListener() {}; 00038 virtual void processRawIMUData(const RawImuData& data) = 0; 00039 }; 00040 00041 class SerialIMUDevice : public ThreadedSerialDevice, public SerialDeviceListener { 00042 private: 00043 SerialIMUDeviceOptions &options; 00044 unsigned char msgData[SERIAL_MSG_SIZE - 2]; 00045 00046 RawImuDataListener* rawImuDataListener; 00047 00048 telekyb::Timer batteryTimer; 00049 00050 public: 00051 SerialIMUDevice(); 00052 virtual ~SerialIMUDevice(); 00053 00054 void handleReadSerialData(const std::vector<char>& data); 00055 void setRawImuDataListener(RawImuDataListener* listener); 00056 }; 00057 00058 } 00059 00060 #endif /* SERIALIMUDEVICE_HPP_ */
