InertialMeasurementUnitObserver.h

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/*
 * This file is part of ArmarX.
 *
 * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @package    RobotAPI::units
 * @author     David Schiebener <schiebener at kit dot edu>
 * @date       2014
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <mutex>
 
#include <ArmarXCore/observers/Observer.h>
 
#include <RobotAPI/interface/units/InertialMeasurementUnit.h>
#include <RobotAPI/interface/visualization/DebugDrawerInterface.h>
#include <RobotAPI/libraries/core/Pose.h>
 
namespace armarx
{
    /**
     * \class InertialMeasurementUnitObserverPropertyDefinitions
     * \brief
     */
    class InertialMeasurementUnitObserverPropertyDefinitions : public ObserverPropertyDefinitions
    {
    public:
        InertialMeasurementUnitObserverPropertyDefinitions(std::string prefix) :
            ObserverPropertyDefinitions(prefix)
        {
            defineOptionalProperty<std::string>(
                "IMUTopicName", "IMUValues", "Name of the IMU Topic.");
            defineOptionalProperty<std::string>(
                "DebugDrawerTopic", "DebugDrawerUpdates", "Name of the DebugDrawerTopic");
            defineOptionalProperty<bool>(
                "EnableVisualization", true, "Enable/Disable DebugDrawer visualizations");
        }
    };
 
    /**
     * \class InertialMeasurementUnitObserver
     * \ingroup RobotAPI-SensorActorUnits-observers
     * \brief Observer monitoring @IMU sensor values
     *
     * The InertialMeasurementUnitObserver monitors @IMU sensor values published by InertialMeasurementUnit-implementations and offers condition checks on these values.
     * Available condition checks are: *updated*, *larger*, *equals* and *smaller*.
     */
    class InertialMeasurementUnitObserver :
        virtual public Observer,
        virtual public InertialMeasurementUnitObserverInterface
    {
    public:
        InertialMeasurementUnitObserver()
        {
        }
 
        std::string
        getDefaultName() const override
        {
            return "InertialMeasurementUnitObserver";
        }
 
        void onInitObserver() override;
        void onConnectObserver() override;
        void onExitObserver() override;
 
        void reportSensorValues(const std::string& device,
                                const std::string& name,
                                const IMUData& values,
                                const TimestampBasePtr& timestamp,
                                const Ice::Current& c = Ice::emptyCurrent) override;
 
        /**
         * @see PropertyUser::createPropertyDefinitions()
         */
        PropertyDefinitionsPtr createPropertyDefinitions() override;
 
 
    private:
        std::mutex dataMutex;
        DebugDrawerInterfacePrx debugDrawerPrx;
 
 
        void
        offerValue(const std::string& device, const std::string& fieldName, const Vector3Ptr& vec);
    };
} // namespace armarx