serial_imu.hpp

#pragma once
 
#include <string>
 
#include "device/imu/base.hpp"
 
namespace roboctrl::device{
class serial_imu : public imu_base {
public:
    struct info_type{
        using key_type = std::string;
        using owner_type = serial_imu;
 
        std::string name;
        std::string serial_name;
        fp32 roll_sign {1.0f}, pitch_sign {1.0f}, yaw_sign {1.0f};
        fp32 roll_rate_sign {1.0f}, pitch_rate_sign {1.0f}, yaw_rate_sign {1.0f};
        // Preserves the legacy raw conversion; producer units need bench verification.
        fp32 gyro_scale {Pi_f / 180.0f / 1000.0f};
        const std::string& key()const{
            return name;
        }
    };
 
    inline std::string desc()const{return std::format("serial_imu {} on serial {}",info_.name,info_.serial_name);}
 
    serial_imu(const info_type& info);
private:
    info_type info_;
};
 
static_assert(imu<serial_imu>);
};