32 lines
934 B
C++
32 lines
934 B
C++
#pragma once
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#include "fgc/MtiProtocol.h" // ImuSample
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#include <optional>
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namespace fgc {
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// Abstraction over the orientation/inertial sensor (Xsens MTi). Implemented by
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// MtiImuSource (RS-232/UART binary stream) and MockImuSource (synthetic). Runs
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// on its own thread; start() must not block the control loop.
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class IImuSource {
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public:
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virtual ~IImuSource() = default;
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virtual void start() = 0;
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virtual void stop() = 0;
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// Whether a valid, recent reading is available.
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virtual bool connected() const = 0;
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// Latest reading, or nullopt if none/stale.
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virtual std::optional<ImuSample> sample() = 0;
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// Device configuration read back during start-up (output mode/settings,
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// sample rate, identity, XKF scenario). nullopt if not yet known or the
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// backend cannot report it.
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virtual std::optional<ImuDeviceConfig> config() const { return std::nullopt; }
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};
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} // namespace fgc
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