Fawkes API  Fawkes Development Version
imu_cruizcore_xg1010.h
1 
2 /***************************************************************************
3  * imu_cruizcore_xg1010.h - Retrieve IMU data from CruizCore XG1010
4  *
5  * Created: Sun Jun 22 21:41:38 2014
6  * Copyright 2008-2014 Tim Niemueller [www.niemueller.de]
7  ****************************************************************************/
8 
9 /* This program is free software; you can redistribute it and/or modify
10  * it under the terms of the GNU General Public License as published by
11  * the Free Software Foundation; either version 2 of the License, or
12  * (at your option) any later version.
13  *
14  * This program is distributed in the hope that it will be useful,
15  * but WITHOUT ANY WARRANTY; without even the implied warranty of
16  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
17  * GNU Library General Public License for more details.
18  *
19  * Read the full text in the LICENSE.GPL file in the doc directory.
20  */
21 
22 #ifndef _PLUGINS_IMU_IMU_CRUIZCORE_XG1010_H_
23 #define _PLUGINS_IMU_IMU_CRUIZCORE_XG1010_H_
24 
25 #include "acquisition_thread.h"
26 #include "imu_cruizcore_xg1010.h"
27 
28 #include <boost/asio.hpp>
29 #include <boost/lambda/bind.hpp>
30 #include <boost/lambda/lambda.hpp>
31 #include <string>
32 #include <thread>
33 
34 #define CRUIZCORE_XG1010_PACKET_SIZE 8
35 
36 namespace fawkes {
37 class Mutex;
38 class Time;
39 #ifdef USE_TIMETRACKER
40 class TimeTracker;
41 #endif
42 } // namespace fawkes
43 
45 {
46 public:
47  CruizCoreXG1010AcquisitionThread(std::string &cfg_name, std::string &cfg_prefix, bool continuous);
48 
49  virtual void init();
50  virtual void finalize();
51  virtual void loop();
52 
53 private:
54  void open_device();
55  void close_device();
56  void resync();
57  void send_init_packet(bool enable_transfer);
58 
59  void parse_packet();
60  void check_deadline();
61 
62 #if BOOST_VERSION < 104800
63  void
64  handle_read(boost::system::error_code ec, size_t bytes_read)
65  {
66  ec_ = ec;
67  bytes_read_ = bytes_read;
68  }
69 #endif
70 
71 private:
72  std::string cfg_serial_;
73  unsigned int cfg_baud_rate_;
74  unsigned int cfg_freq_;
75 
76  boost::asio::io_service io_service_;
77  boost::asio::serial_port serial_;
78  boost::asio::io_service::work io_service_work_;
79  boost::asio::deadline_timer deadline_;
80  boost::asio::streambuf input_buffer_;
81 
82  unsigned int receive_timeout_;
83  unsigned char in_packet_[CRUIZCORE_XG1010_PACKET_SIZE];
84 
85  boost::system::error_code ec_;
86  size_t bytes_read_;
87 
88 #ifdef USE_TIMETRACKER
90  unsigned int tt_loopcount_;
91  unsigned int ttc_full_loop_;
92  unsigned int ttc_read_;
93  unsigned int ttc_catch_up_;
94  unsigned int ttc_parse_;
95 #endif
96 };
97 
98 #endif
CruizCoreXG1010AcquisitionThread::loop
virtual void loop()
Code to execute in the thread.
Definition: imu_cruizcore_xg1010.cpp:164
IMUAcquisitionThread
IMU acqusition thread.
Definition: acquisition_thread.h:44
fawkes
Fawkes library namespace.
CruizCoreXG1010AcquisitionThread
IMU acquisition thread for CruizCore XG1010 gyros.
Definition: imu_cruizcore_xg1010.h:45
CruizCoreXG1010AcquisitionThread::init
virtual void init()
Initialize the thread.
Definition: imu_cruizcore_xg1010.cpp:105
fawkes::TimeTracker
Time tracking utility.
Definition: tracker.h:37
CruizCoreXG1010AcquisitionThread::finalize
virtual void finalize()
Finalize the thread.
Definition: imu_cruizcore_xg1010.cpp:153
CruizCoreXG1010AcquisitionThread::CruizCoreXG1010AcquisitionThread
CruizCoreXG1010AcquisitionThread(std::string &cfg_name, std::string &cfg_prefix, bool continuous)
Constructor.
Definition: imu_cruizcore_xg1010.cpp:93