BNO08xRpt.hpp

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#pragma once
 
// standard library includes
#include <functional>
// esp-idf includes
#include "esp_log.h"
// in-house includes
#include "BNO08xGlobalTypes.hpp"
#include "BNO08xPrivateTypes.hpp"
// hill-crest labs includes (apache 2.0 license, compatible with MIT)
#include "sh2.h"
#include "sh2_SensorValue.h"
#include "sh2_err.h"
 
class BNO08xRpt
{
    public:
        bool disable(sh2_SensorConfig_t sensor_cfg = BNO08xPrivateTypes::default_sensor_cfg);
        bool register_cb(std::function<void(void)> cb_fxn);
        bool has_new_data();
        bool flush();
        bool get_sample_counts(bno08x_sample_counts_t& sample_counts);
        bool clear_sample_counts();
        bool get_meta_data(bno08x_meta_data_t& meta_data);
        virtual bool enable(
                uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg = BNO08xPrivateTypes::default_sensor_cfg) = 0;
 
    protected:
        uint8_t ID;          
        EventBits_t rpt_bit; 
        uint32_t period_us;  
        BNO08xPrivateTypes::bno08x_sync_ctx_t* sync_ctx;
 
        bool rpt_enable(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg = BNO08xPrivateTypes::default_sensor_cfg);
        virtual void update_data(sh2_SensorValue_t* sensor_val) = 0;
 
        BNO08xRpt(uint8_t ID, EventBits_t rpt_bit, BNO08xPrivateTypes::bno08x_sync_ctx_t* sync_ctx)
            : ID(ID)
            , rpt_bit(rpt_bit)
            , period_us(0UL)
            , sync_ctx(sync_ctx)
 
        {
        }
 
        void unlock_sh2_HAL();
        void lock_sh2_HAL();
        void unlock_user_data();
        void lock_user_data();
        void signal_data_available();
 
        static const constexpr float RAD_2_DEG =
                (180.0f / M_PI); 
 
        static const constexpr char* TAG = "BNO08xRpt";
 
        friend class BNO08x;
};