view main/robots/odr/ImuApp.h @ 230:50414c680910 main

Split the IMU reader out to a separate application. Rework the scoreboard accordingly. Also remove all the legacy "odr-controller" logic, and improve the management of "emergency" situations for all nodes.
author Bob Cook <bob@bobcookdev.com>
date Sat, 12 Jul 2014 17:21:10 -0700
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// ----------------------------------------------------------------------------------------
//
//  robots/odr/ImuApp.h
//    
//  Bob Cook Development, Robotics Library
//  http://www.bobcookdev.com/rl/
//    
//  Application object for the IMU sensor bridge.
//
//  Copyright (c) 2014 Bob Cook
//
//  Permission is hereby granted, free of charge, to any person obtaining a copy
//  of this software and associated documentation files (the "Software"), to deal
//  in the Software without restriction, including without limitation the rights
//  to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
//  copies of the Software, and to permit persons to whom the Software is
//  furnished to do so, subject to the following conditions:
//
//  The above copyright notice and this permission notice shall be included in
//  all copies or substantial portions of the Software.
//
//  THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
//  IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
//  FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
//  AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
//  LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
//  OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
//  THE SOFTWARE.
//
// ----------------------------------------------------------------------------------------

#ifndef BCDRL_ROBOTS_ODR_IMUAPP_H
#define BCDRL_ROBOTS_ODR_IMUAPP_H

#include <Poco/Timer.h>
#include <Poco/Util/ServerApplication.h>

namespace Poco
{
    namespace Util
    {
        class OptionSet;
    }
}

#include <string>
#include <vector>

// ----------------------------------------------------------------------------------------

class ImuApp : public Poco::Util::ServerApplication
{
    public:
        ImuApp();
        virtual ~ImuApp();

    protected:
        void initialize( Poco::Util::Application& self );
        void uninitialize();
        void defineOptions( Poco::Util::OptionSet& options );
        void handleHelp( const std::string& name, const std::string& value );
        int  main( const std::vector< std::string >& args );

    private:
        void sendImuDataUpdate( Poco::Timer& timer );

    private:
        bool        m_helpRequested;
        bool        m_runloopActive;
        Poco::Timer m_timerSendImuDataUpdate;
};

// ----------------------------------------------------------------------------------------
#endif // #ifndef BCDRL_ROBOTS_ODR_IMUAPP_H
// ----------------------------------------------------------------------------------------