datachannelservice.h

/*******************************************************************************
 * Copyright (c) 2023 Allied Vision Technologies GmbH
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in
 * all copies or substantial portions of the Software.
 *******************************************************************************/
 
#ifndef VISIONTRANSFER_DATACHANNELSERVICE_H
#define VISIONTRANSFER_DATACHANNELSERVICE_H
 
#include <vector>
#include <visiontransfer/common.h>
#include <visiontransfer/deviceinfo.h>
#include <visiontransfer/sensordata.h>
 
using namespace visiontransfer;
 
namespace visiontransfer {
 
class VT_EXPORT DataChannelService {
public:
    class Pimpl;
    DataChannelService(DeviceInfo deviceInfo, unsigned long pollDelayUSec=1000);
    DataChannelService(const char* ipAddr, unsigned long pollDelayUSec=1000);
    ~DataChannelService();
public:
    bool imuAvailable();
 
    TimestampedQuaternion imuGetRotationQuaternion();
 
    std::vector<TimestampedQuaternion> imuGetRotationQuaternionSeries(int fromSec=0, int fromUSec=0, int untilSec=0x7FFFffffl, int untilUSec=0x7FFFffffl);
 
    TimestampedVector imuGetAcceleration();
 
    std::vector<TimestampedVector> imuGetAccelerationSeries(int fromSec=0, int fromUSec=0, int untilSec=0x7FFFffffl, int untilUSec=0x7FFFffffl);
 
    TimestampedVector imuGetGyroscope();
 
    std::vector<TimestampedVector> imuGetGyroscopeSeries(int fromSec=0, int fromUSec=0, int untilSec=0x7FFFffffl, int untilUSec=0x7FFFffffl);
 
    TimestampedVector imuGetMagnetometer();
 
    std::vector<TimestampedVector> imuGetMagnetometerSeries(int fromSec=0, int fromUSec=0, int untilSec=0x7FFFffffl, int untilUSec=0x7FFFffffl);
 
    TimestampedVector imuGetLinearAcceleration();
 
    std::vector<TimestampedVector> imuGetLinearAccelerationSeries(int fromSec=0, int fromUSec=0, int untilSec=0x7FFFffffl, int untilUSec=0x7FFFffffl);
 
    TimestampedVector imuGetGravity();
 
    std::vector<TimestampedVector> imuGetGravitySeries(int fromSec=0, int fromUSec=0, int untilSec=0x7FFFffffl, int untilUSec=0x7FFFffffl);
 
private:
    Pimpl* pimpl;
};
 
 
} // namespaces
 
#endif