61 lines
2.0 KiB
C++
61 lines
2.0 KiB
C++
#include "BNO08xRptActivityClassifier.hpp"
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#include "BNO08x.hpp"
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/**
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* @brief Enables activity classifier reports such that the BNO08x begins sending them.
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*
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* @param time_between_reports The period/interval of the report in microseconds.
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* @param activities_to_enable Which activities to enable.
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* @param sensor_cfg Sensor special configuration (optional, see BNO08xRpt::default_sensor_cfg for defaults).
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*
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* @return True if report was successfully enabled.
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*/
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bool BNO08xRptActivityClassifier::enable(uint32_t time_between_reports, BNO08xActivityEnable activities_to_enable, sh2_SensorConfig_t sensor_cfg)
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{
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sensor_cfg.sensorSpecific = static_cast<uint8_t>(activities_to_enable); // this must be set regardless of user cfg or no reports will be received
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return BNO08xRpt::enable(time_between_reports, sensor_cfg);
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}
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/**
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* @brief Updates activity classifier data from decoded sensor event.
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*
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* @param sensor_val The sh2_SensorValue_t struct used in sh2_decodeSensorEvent() call.
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*
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* @return void, nothing to return
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*/
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void BNO08xRptActivityClassifier::update_data(sh2_SensorValue_t* sensor_val)
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{
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imu->lock_user_data();
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data = sensor_val->un.personalActivityClassifier;
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imu->unlock_user_data();
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if (rpt_bit & xEventGroupGetBits(imu->evt_grp_report_en))
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signal_data_available();
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}
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/**
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* @brief Grabs most recent activity classifier data.
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*
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* @return Struct containing requested data.
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*/
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bno08x_activity_classifier_t BNO08xRptActivityClassifier::get()
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{
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imu->lock_user_data();
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bno08x_activity_classifier_t rqdata = data;
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imu->unlock_user_data();
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return rqdata;
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}
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/**
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* @brief Grabs most the most likely activity from most recent activity classifier data.
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*
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* @return BNO08xActivity object with detected state.
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*/
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BNO08xActivity BNO08xRptActivityClassifier::get_most_likely_activity()
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{
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imu->lock_user_data();
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BNO08xActivity rqdata = static_cast<BNO08xActivity>(data.mostLikelyState);
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imu->unlock_user_data();
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return rqdata;
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} |