base.hpp

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#pragma once
 
#include <array>
#include <span>
 
#include "device/base.hpp"
 
namespace roboctrl::device{ 
    
enum class axis : std::size_t {
    roll  = 0,
    pitch = 1,
    yaw   = 2,
    x = 0,
    y = 1,
    z = 2,
};
 
struct imu_base : public device_base {
protected:
    std::array<fp32, 3> acc_ {};
    std::array<fp32, 3> gyro_ {};
    std::array<fp32, 3> angle_ {};
 
public:
    auto acc() const { return std::span{ acc_ }; }
    auto gyro() const { return std::span{ gyro_ }; }
    auto angle() const { return std::span{ angle_ }; }
    fp32 acc(const axis axis) const { return acc_[std::to_underlying(axis)]; }
    fp32 gyro(const axis axis) const { return gyro_[std::to_underlying(axis)]; }
    fp32 angle(const axis axis) const { return angle_[std::to_underlying(axis)]; }
 
    inline explicit imu_base(const std::chrono::nanoseconds offline_timeout) : device_base{offline_timeout} {}
};
 
template <typename T>
concept imu =
    std::derived_from<T, imu_base>;
} // namespace dev