IOSGyroSensor3DOF.h

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/*
 * Copyright (c) Meta Platforms, Inc. and affiliates.
 *
 * This source code is licensed under the MIT license found in the
 * LICENSE file in the root directory of this source tree.
 */
 
#ifndef META_OCEAN_DEVICES_IOS_IOS_GYRO_SENSOR_3_DOF_H
#define META_OCEAN_DEVICES_IOS_IOS_GYRO_SENSOR_3_DOF_H
 
#include "ocean/devices/ios/IOS.h"
#include "ocean/devices/ios/IOSSensor.h"
#include "ocean/devices/ios/MotionManager.h"
 
#include "ocean/devices/GyroSensor3DOF.h"
 
namespace Ocean
{
 
namespace Devices
{
 
namespace IOS
{
 
/**
 * This class implements all 3DOF gyro sensors (including the raw and unbiased gyro sensors).
 * @ingroup devicesios
 */
class OCEAN_DEVICES_IOS_EXPORT IOSGyroSensor3DOF :
    virtual public IOSSensor,
    virtual public GyroSensor3DOF
{
    friend class IOSFactory;
 
    public:
 
        /**
         * Starts the device.
         * @see Device::start().
         */
        virtual bool start();
 
        /**
         * Pauses the device.
         * @see Device::pause().
         */
        virtual bool pause();
 
        /**
         * Stops the device.
         * @see Device::stop().
         */
        virtual bool stop();
 
        /**
         * Returns the name of this sensor.
         * @param sensorType The type of the sensor (the subtype of the device), can be SENSOR_GYRO_RAW_3DOF or SENSOR_GYRO_UNBIASED_3DOF
         * @return The sensor's name
         */
        static inline std::string deviceNameIOSGyroSensor3DOF(const SensorType sensorType);
 
        /**
         * Returns the device type of this sensor.
         * @param sensorType The type of the sensor (the subtype of the device), can be SENSOR_GYRO_RAW_3DOF or SENSOR_GYRO_UNBIASED_3DOF
         * @return The sensor's device type
         */
        static inline DeviceType deviceTypeIOSGyroSensor3DOF(const SensorType sensorType);
 
    protected:
 
        /**
         * Creates a new 3DOF gyro sensor device.
         * @param sensorType The type of the sensor (the subtype of the device), can be SENSOR_GYRO_RAW_3DOF or SENSOR_GYRO_UNBIASED_3DOF
         */
        IOSGyroSensor3DOF(const SensorType sensorType);
 
        /**
         * Destructs a 3DOF gyro sensor device.
         */
        virtual ~IOSGyroSensor3DOF();
 
    private:
 
        /**
         * Callback function when using SENSOR_GYRO_UNBIASED_3DOF.
         * @param deviceMotion iOS DeviceMotion readout
         */
        void onDeviceMotion(CMDeviceMotion* deviceMotion);
 
    private:
 
        // Callback id when using SENSOR_GYRO_UNBIASED_3DOF.
        MotionManager::ListenerId deviceMotionListenerId_ = MotionManager::invalidListenerId();
};
 
inline std::string IOSGyroSensor3DOF::deviceNameIOSGyroSensor3DOF(const SensorType sensorType)
{
    ocean_assert(sensorType == SENSOR_GYRO_RAW_3DOF || sensorType == SENSOR_GYRO_UNBIASED_3DOF);
 
    if (sensorType == SENSOR_GYRO_RAW_3DOF)
    {
        return std::string("IOS 3DOF Gyro Raw Sensor");
    }
 
    return std::string("IOS 3DOF Gyro Unbiased Sensor");
}
 
inline IOSGyroSensor3DOF::DeviceType IOSGyroSensor3DOF::deviceTypeIOSGyroSensor3DOF(const SensorType sensorType)
{
    ocean_assert(sensorType == SENSOR_GYRO_RAW_3DOF || sensorType == SENSOR_GYRO_UNBIASED_3DOF);
 
    return deviceTypeGyroSensor3DOF(sensorType);
}
 
}
 
}
 
}
 
#endif // META_OCEAN_DEVICES_IOS_IOS_GYRO_SENSOR_3_DOF_H