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/*
 * Imu6DofSensor.h
 * Copyright (C) Travis Ramp 2009 <tramp@purdue.edu>
 *
 * Imu6DofSensor.h is free software: you can redistribute it and/or modify it
 * under the terms of the GNU General Public License as published by the
 * Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * Imu6DofSensor.h 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/>.
 */

#ifndef IMU6DOFSENSOR_H_
#define IMU6DOFSENSOR_H_

#include <cmath>
#include <sys/time.h>
#include <SerialStream.h>
#include <boost/numeric/ublas/vector.hpp>
#include "Sensor.h"

using namespace LibSerial;
using namespace boost::numeric::ublas;

namespace uvsim
{

static const char exitMenuCmd = '9';
static const char stopCmd = ' ';
static const char startCmd = '#';


class Imu6DofSensor : public uvsim::Sensor
{
public:
    Imu6DofSensor(std::string port, vector<double> freqCutMb,
                  vector<double> freqCutFb, vector<double> freqCutWb);
    virtual ~Imu6DofSensor();
    void stop();
    void start(double frequency);
    void print();
    virtual void update();
private:
    SerialStream serialPort;
    bool read();
    vector<double> mbRaw, fbRaw, wbRaw, freqCutMb, freqCutFb, freqCutWb;
public:
    vector<double> mb, fb, wb;
    double freq;
    bool isStarted;
};

}

#endif /* IMU6DOFSENSOR_H_ */

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