imuApi.h

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#pragma once
 
#include <boost/function.hpp>
#include <boost/system/error_code.hpp>
#include <boost/shared_ptr.hpp>
 
#include <vector>
 
class ImuClient;
 
#ifndef IMU_TYPES
#define IMU_TYPES
 
namespace dpyImu {
 
enum Properties
{
    enable_device_acc = 0, 
    enable_device_gyr = 1, 
    enable_device_mag = 2, 
    poll_rate_ms_acc = 3, 
    poll_rate_ms_gyr = 4, 
    poll_rate_ms_mag = 5, 
    range_acc = 6, 
    range_gyr = 7, 
    range_mag = 8, 
    anti_aliasing_freq_acc = 9, 
    x_y_op_mode_mag = 10, 
    z_op_mode_mag = 11 
};
 
struct config_imu_struct
{
    Properties property = Properties::enable_device_acc; 
    std::string value = ""; 
};
 
typedef enum e_Type
{
    ACCELEROMETER = 0, 
    GYROSCOPE = 1, 
    MAGNETOMETER = 2 
} DEVICE;
 
struct info_imu_struct
{
    std::string timestamp = ""; 
    e_Type type = e_Type::ACCELEROMETER; 
    int x = 0; 
    int y = 0; 
    int z = 0; 
    boost::system::error_code status; 
 
};
 
typedef boost::function<void(const bool &available)> service_availability_handler;
 
typedef boost::function< void(boost::system::error_code& ec, dpyImu::info_imu_struct& info_struct)> infoimu_handler_function; 
typedef boost::function< void(boost::system::error_code& ec, dpyImu::config_imu_struct& config_struct)> configimu_handler_function; 
typedef boost::function<void(boost::system::error_code& ec)> set_handler_function; 
 
 
}
#endif
 
 
class Imu
{
private:
    boost::shared_ptr<ImuClient> mClient; 
public:
    explicit Imu(std::string ip = "127.0.0.1");
    ~Imu();
    bool isAlive();
    void monitorServiceAvailability_S(dpyImu::service_availability_handler handler);
    void monitorServiceAvailability_U();
    void asyncGetInertialValues(dpyImu::infoimu_handler_function handler, int device_number);
    void getInertialValues_S(dpyImu::infoimu_handler_function handler);
    void getInertialValues_U();
    void asyncGetConfigImu(dpyImu::configimu_handler_function handler, int num_property);
    void asyncSetConfigImu(dpyImu::set_handler_function handler, int num_property, std::string value);
};