demo version

demo/camera_client/dependencies/libvisiontransfer/visiontransfer/datachannelservice.h

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+/*******************************************************************************
+ * Copyright (c) 2021 Nerian Vision GmbH
+ *
+ * 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.
+ *******************************************************************************/
+
+#ifndef VISIONTRANSFER_DATACHANNELSERVICE_H
+#define VISIONTRANSFER_DATACHANNELSERVICE_H
+
+#include <vector>
+#include <visiontransfer/common.h>
+#include <visiontransfer/deviceinfo.h>
+#include <visiontransfer/sensordata.h>
+
+using namespace visiontransfer;
+
+namespace visiontransfer {
+
+/**
+ * This is the DataChannelServer public API, backwards compatible with C++-98
+ *
+ * The DataChannelService encapsulates miscellaneous device services,
+ * which are not implemented on all Nerian devices. Availability can be
+ * queried; access to unavailable elements will normally return default
+ * values or silently execute nothing.
+ *
+ * The imuGet...() and envGet...() functions access an inertial measurement unit
+ * with attached environmental sensor, realized with the Hillcrest BNO080
+ * and Bosch BME280, respectively, on supported devices.
+ * 
+ */
+class VT_EXPORT DataChannelService {
+public:
+    class Pimpl;
+    /**
+     *  Initialize a new background data channel service, connecting to the
+     *  specified device. The optional argument pollDelayUSec is used in the
+     *  background receive/update loop, the default of 1000us can be overridden
+     *  for the sake of efficiency or if minimum latency requirements differ.
+     */
+    DataChannelService(DeviceInfo deviceInfo, unsigned long pollDelayUSec=1000);
+    /**
+     *  Initialize a new background data channel service, connecting to the
+     *  specified IP address. The optional argument pollDelayUSec is used in the
+     *  background receive/update loop, the default of 1000us can be overridden
+     *  for the sake of efficiency or if minimum latency requirements differ.
+     */
+    DataChannelService(const char* ipAddr, unsigned long pollDelayUSec=1000);
+    ~DataChannelService();
+public:
+    /**
+     * \brief Return whether the device will provide data from an Inertial Measurement Unit
+     */
+    bool imuAvailable();
+
+    /**
+     * \brief Return the most recent rotation quaternion, relative to gravity and magnetic north
+     */
+    TimestampedQuaternion imuGetRotationQuaternion();
+
+    /**
+     * \brief Return the current contents of the rotation quaternion data buffer, optionally between specified timestamps.
+     *
+     * This operation consumes an internal ring buffer up to the desired end stamp, data older than the desired window is silently discarded.
+     */
+    std::vector<TimestampedQuaternion> imuGetRotationQuaternionSeries(int fromSec=0, int fromUSec=0, int untilSec=0x7FFFffffl, int untilUSec=0x7FFFffffl);
+
+    /**
+     * \brief Return the most recent calibrated accelerometer reading
+     */
+    TimestampedVector imuGetAcceleration();
+
+    /**
+     * \brief Return the current contents of the calibrated accelerometer data buffer, optionally between specified timestamps.
+     *
+     * This operation consumes an internal ring buffer up to the desired end stamp, data older than the desired window is silently discarded.
+     */
+    std::vector<TimestampedVector> imuGetAccelerationSeries(int fromSec=0, int fromUSec=0, int untilSec=0x7FFFffffl, int untilUSec=0x7FFFffffl);
+
+    /**
+     * \brief Return the most recent calibrated angular accelerations from the gyroscope
+     */
+    TimestampedVector imuGetGyroscope();
+
+    /**
+     * \brief Return the current contents of the gyroscope data buffer, optionally between specified timestamps.
+     *
+     * This operation consumes an internal ring buffer up to the desired end stamp, data older than the desired window is silently discarded.
+     */
+    std::vector<TimestampedVector> imuGetGyroscopeSeries(int fromSec=0, int fromUSec=0, int untilSec=0x7FFFffffl, int untilUSec=0x7FFFffffl);
+
+    /**
+     * \brief Return the most recent magnetometer readings
+     */
+    TimestampedVector imuGetMagnetometer();
+
+    /**
+     * \brief Return the current contents of the magnetometer data buffer, optionally between specified timestamps.
+     *
+     * This operation consumes an internal ring buffer up to the desired end stamp, data older than the desired window is silently discarded.
+     */
+    std::vector<TimestampedVector> imuGetMagnetometerSeries(int fromSec=0, int fromUSec=0, int untilSec=0x7FFFffffl, int untilUSec=0x7FFFffffl);
+
+    /**
+     * \brief Return the most recent linear acceleration, i.e. with gravity factored out
+     */
+    TimestampedVector imuGetLinearAcceleration();
+
+    /**
+     * \brief Return the current contents of the linear acceleration (without gravity) data buffer, optionally between specified timestamps.
+     *
+     * This operation consumes an internal ring buffer up to the desired end stamp, data older than the desired window is silently discarded.
+     */
+    std::vector<TimestampedVector> imuGetLinearAccelerationSeries(int fromSec=0, int fromUSec=0, int untilSec=0x7FFFffffl, int untilUSec=0x7FFFffffl);
+
+    /**
+     * \brief Return the most recent gravity measurement
+     */
+    TimestampedVector imuGetGravity();
+
+    /**
+     * \brief Return the current contents of the gravity data buffer, optionally between specified timestamps.
+     *
+     * This operation consumes an internal ring buffer up to the desired end stamp, data older than the desired window is silently discarded.
+     */
+    std::vector<TimestampedVector> imuGetGravitySeries(int fromSec=0, int fromUSec=0, int untilSec=0x7FFFffffl, int untilUSec=0x7FFFffffl);
+
+private:
+    Pimpl* pimpl;
+};
+
+
+} // namespaces
+
+#endif
+