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