00001 /*!@file BeoSub/BeoSubIMU.H class for interfacing with the IMU */ 00002 00003 // //////////////////////////////////////////////////////////////////// // 00004 // The iLab Neuromorphic Vision C++ Toolkit - Copyright (C) 2000-2003 // 00005 // by the University of Southern California (USC) and the iLab at USC. // 00006 // See http://iLab.usc.edu for information about this project. // 00007 // //////////////////////////////////////////////////////////////////// // 00008 // Major portions of the iLab Neuromorphic Vision Toolkit are protected // 00009 // under the U.S. patent ``Computation of Intrinsic Perceptual Saliency // 00010 // in Visual Environments, and Applications'' by Christof Koch and // 00011 // Laurent Itti, California Institute of Technology, 2001 (patent // 00012 // pending; application number 09/912,225 filed July 23, 2001; see // 00013 // http://pair.uspto.gov/cgi-bin/final/home.pl for current status). // 00014 // //////////////////////////////////////////////////////////////////// // 00015 // This file is part of the iLab Neuromorphic Vision C++ Toolkit. // 00016 // // 00017 // The iLab Neuromorphic Vision C++ Toolkit is free software; you can // 00018 // redistribute it and/or modify it under the terms of the GNU General // 00019 // Public License as published by the Free Software Foundation; either // 00020 // version 2 of the License, or (at your option) any later version. // 00021 // // 00022 // The iLab Neuromorphic Vision C++ Toolkit is distributed in the hope // 00023 // that it will be useful, but WITHOUT ANY WARRANTY; without even the // 00024 // implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR // 00025 // PURPOSE. See the GNU General Public License for more details. // 00026 // // 00027 // You should have received a copy of the GNU General Public License // 00028 // along with the iLab Neuromorphic Vision C++ Toolkit; if not, write // 00029 // to the Free Software Foundation, Inc., 59 Temple Place, Suite 330, // 00030 // Boston, MA 02111-1307 USA. // 00031 // //////////////////////////////////////////////////////////////////// // 00032 // 00033 // $HeadURL: svn://isvn.usc.edu/software/invt/trunk/saliency/src/BeoSub/BeoSubIMU.H $ 00034 // $Id: BeoSubIMU.H 11659 2009-09-05 01:27:31Z siagian $ 00035 // 00036 00037 #ifndef BEOSUBIMU_H_DEFINED 00038 #define BEOSUBIMU_H_DEFINED 00039 00040 #include "Component/OptionManager.H" 00041 #include "Devices/Serial.H" 00042 #include "Util/Angle.H" 00043 #include <pthread.h> 00044 00045 //! A hook which will be called when a new IMU reading is received 00046 class BeoSubIMUListener { 00047 public: 00048 //! Destructor 00049 virtual ~BeoSubIMUListener(); 00050 00051 //! New data was received 00052 virtual void newData(const float xa, const float ya, const float za, 00053 const Angle xv, const Angle yv, const Angle zv) = 0; 00054 }; 00055 00056 //! Class for interfacing with the IMU 00057 /*! This is an IMU. It sends X,Y,Z acceleration and X,Y,Z angular velocity*/ 00058 class BeoSubIMU: public ModelComponent 00059 { 00060 public: 00061 //! Initialize 00062 BeoSubIMU(OptionManager& mgr, 00063 const std::string& descrName = "IMU", 00064 const std::string& tagName = "IMU", 00065 const char *dev = "/dev/ttyS0"); 00066 00067 //! Destructor 00068 ~BeoSubIMU(); 00069 00070 //! Setup a listener that will be called each time new data is received 00071 void setListener(rutz::shared_ptr<BeoSubIMUListener> listener); 00072 00073 //! Get the current X acceleration 00074 float getXaccel(); 00075 00076 //! Get the current Y acceleration 00077 float getYaccel(); 00078 00079 //! Get the current Z acceleration 00080 float getZaccel(); 00081 00082 //! Get the current X velocity 00083 Angle getXvel(); 00084 00085 //! Get the current Y velocity 00086 Angle getYvel(); 00087 00088 //! Get the current Z velocity 00089 Angle getZvel(); 00090 00091 void run(); 00092 00093 protected: 00094 void start2(); //!< get started 00095 void stop1(); //!< get stopped 00096 float accelConvert(int data); 00097 float rateConvert(int data); 00098 00099 private: 00100 nub::soft_ref<Serial> itsSerial; 00101 rutz::shared_ptr<BeoSubIMUListener> itsListener; 00102 Angle itsXvel, itsYvel, itsZvel; 00103 float itsXaccel, itsYaccel, itsZaccel; 00104 bool itsKeepgoing; 00105 pthread_t itsRunner; 00106 pthread_mutex_t itsLock; 00107 }; 00108 00109 #endif 00110 00111 // ###################################################################### 00112 /* So things look consistent in everyone's emacs... */ 00113 /* Local Variables: */ 00114 /* indent-tabs-mode: nil */ 00115 /* End: */
1.6.3