Program Listing for File gyroscope.hpp

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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:
 *
 *     * Redistributions of source code must retain the above copyright
 *       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.
 *     * Neither the name of the copyright holder nor the names of its
 *       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"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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 */

#ifndef PHIDGETS_API_GYROSCOPE_HPP
#define PHIDGETS_API_GYROSCOPE_HPP

#include <functional>

#include <libphidget22/phidget22.h>

#include "phidgets_api/phidget22.hpp"

namespace phidgets {

class Gyroscope final
{
  public:
    PHIDGET22_NO_COPY_NO_MOVE_NO_ASSIGN(Gyroscope)

    explicit Gyroscope(
        int32_t serial_number, int hub_port, bool is_hub_port_device,
        std::function<void(const double[3], double)> data_handler);

    ~Gyroscope();

    int32_t getSerialNumber() const noexcept;

    void getAngularRate(double &x, double &y, double &z,
                        double &timestamp) const;

    void setDataInterval(uint32_t interval_ms) const;

    void zero() const;

    void dataHandler(const double angular_rate[3], double timestamp) const;

  private:
    int32_t serial_number_;
    std::function<void(const double[3], double)> data_handler_;
    PhidgetGyroscopeHandle gyro_handle_{nullptr};

    static void DataHandler(PhidgetGyroscopeHandle input_handle, void *ctx,
                            const double angular_rate[3], double timestamp);
};

}  // namespace phidgets

#endif  // PHIDGETS_API_GYROSCOPE_HPP