20ae2f5c2a
added ble as sensor to java and c++ added sensorlistener for ble added ble to observation and onDataSensor in filter started to work on ble fingerprints for optimization
67 lines
1.5 KiB
C++
67 lines
1.5 KiB
C++
#ifndef TURNSENSOR_H
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#define TURNSENSOR_H
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#include <Indoor/sensors/imu/PoseDetection.h>
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#include <Indoor/sensors/imu/TurnDetection.h>
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#include "AccelerometerSensor.h"
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#include "GyroscopeSensor.h"
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struct TurnData {
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float radSinceLastEvent;
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float radSinceStart;
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TurnData() : radSinceLastEvent(0), radSinceStart(0) {;}
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};
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class TurnSensor :
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public SensorListener<AccelerometerData>, // << takes
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public SensorListener<GyroscopeData>, // << takes
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public Sensor<TurnData> { // << provides
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private:
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PoseDetection pose;
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TurnDetection turn;
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TurnData data;
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AccelerometerSensor& acc;
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GyroscopeSensor& gyro;
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public:
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/** ctor */
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TurnSensor(AccelerometerSensor& acc, GyroscopeSensor& gyro) : acc(acc), gyro(gyro), turn(&pose) {
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acc.addListener(this);
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gyro.addListener(this);
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}
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void start() override {
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//
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}
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void stop() override {
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//
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}
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bool isRunning() const override {
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return acc.isRunning() && gyro.isRunning();
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}
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virtual void onSensorData(Sensor<AccelerometerData>* sensor, const Timestamp ts, const AccelerometerData& data) override {
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(void) sensor;
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//turn.addAccelerometer(ts, data);
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pose.addAccelerometer(ts, data);
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}
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virtual void onSensorData(Sensor<GyroscopeData>* sensor, const Timestamp ts, const GyroscopeData& data) override {
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(void) sensor;
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const float rad = turn.addGyroscope(ts, data);
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this->data.radSinceLastEvent = rad;
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this->data.radSinceStart += rad;
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informListeners(ts, this->data);
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}
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};
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#endif // TURNSENSOR_H
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