view main/robots/odr-sim/ImuStatus.h @ 231:783f69f37c64 main

Rework the simulator to better reflect the new/different nodes in the real hardware.
author Bob Cook <bob@bobcookdev.com>
date Sat, 12 Jul 2014 17:22:55 -0700
parents 5e91f5877f1f
children
line wrap: on
line source

// ----------------------------------------------------------------------------------------
//
//  robots/odr-sim/ImuStatus.h
//    
//  Bob Cook Development, Robotics Library
//  http://www.bobcookdev.com/rl/
// 
//  Thread that periodically sends the IMU details.
//
//  Copyright (c) 2013-2014 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_ODRSIM_IMUSTATUS_H
#define BCDRL_ROBOTS_ODRSIM_IMUSTATUS_H

#include <Poco/Event.h>
#include <Poco/Runnable.h>
#include <Poco/RWLock.h>

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

class ImuStatus : public Poco::Runnable
{
    public:
        static bool   isImuEnabled();
        static void   setImuEnabled();
        static void   setImuDisabled();
        static double imuYaw();
        static double imuPitch();
        static double imuRoll();
        static void   setImuYaw( double value );
        static void   setImuPitch( double value );
        static void   setImuRoll( double value );

    public:
        ImuStatus();
        virtual ~ImuStatus();
        virtual void run();
        void timeToQuit();

    private:
        static void sendImuData();

    private:
        static Poco::RWLock sm_rwLock;
        static bool         sm_isEnabled;
        static double       sm_yaw;
        static double       sm_pitch;
        static double       sm_roll;

    private:
        Poco::Event m_quitEvent;
};

// ----------------------------------------------------------------------------------------
#endif // #ifndef BCDRL_ROBOTS_ODRSIM_IMUSTATUS_H
// ----------------------------------------------------------------------------------------