base.hpp

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#pragma once
 
#include <cstddef>
 
#include "device/base.hpp"
 
namespace roboctrl::device{ 
 
struct euler_angle { fp32 roll{}, pitch{}, yaw{}; };
struct three_axis { fp32 x{}, y{}, z{}; };
    
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:
    three_axis acc_ {};
    three_axis gyro_ {};
    euler_angle angle_ {};
 
public:
    three_axis acceleration() const { return acc_; }
    three_axis acc() const { return acc_; }
    three_axis gyro() const { return gyro_; }
    euler_angle angle() const { return angle_; }
    fp32 acceleration(const axis a) const { return a == device::axis::x || a == device::axis::roll ? acc_.x : (a == device::axis::y || a == device::axis::pitch ? acc_.y : acc_.z); }
    fp32 acc(const axis a) const { return acceleration(a); }
    fp32 gyro(const axis a) const { return a == device::axis::x || a == device::axis::roll ? gyro_.x : (a == device::axis::y || a == device::axis::pitch ? gyro_.y : gyro_.z); }
    fp32 angle(const axis a) const { return a == device::axis::x || a == device::axis::roll ? angle_.roll : (a == device::axis::y || a == device::axis::pitch ? angle_.pitch : angle_.yaw); }
 
    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