hardwareSensorOdomRmp400Genom.hpp

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#ifndef HARDWARE_SENSOR_ODOMRMP400GENOM_HPP_
#define HARDWARE_SENSOR_ODOMRMP400GENOM_HPP_

#include <stdlib.h>
#include <unistd.h>

#include <jafarConfig.h>
#include "kernel/jafarMacro.hpp"
#include "rtslam/hardwareSensorAbstract.hpp"

#ifdef HAVE_POSTERLIB
#include "posterLib.h"
#endif


namespace jafar {
namespace rtslam {
namespace hardware {


class HardwareSensorOdomRmp400Genom: public HardwareSensorProprioAbstract
{
  private:
    boost::thread *preloadTask_thread;
    void preloadTask(void);
    
#ifdef HAVE_POSTERLIB
    POSTER_ID posterId;
#endif
    std::string dump_path;
    double last_timestamp;
    kernel::LoggerTask *loggerTask;

    jblas::vec4 calib; 
    jblas::vec prev_reading;
    double time_stopped;
    bool status400poster;

    void filterOdom(jblas::vec & reading);
    
  public:
    HardwareSensorOdomRmp400Genom(kernel::VariableCondition<int> *condition, unsigned bufferSize,
      Mode mode = mOnline, std::string dump_path = ".", kernel::LoggerTask *loggerTask = NULL);
    void setCalib(jblas::vec4 calib) { this->calib = calib; }

    virtual void start();
    virtual void stop();
    virtual bool join(int timed_ms = -1);
    virtual double getLastTimestamp() { boost::unique_lock<boost::mutex> l(mutex_data); return last_timestamp; }
    
    jblas::ind_array instantValues() { return jmath::ublasExtra::ia_set(1,2); }
    jblas::ind_array incrementValues() { return jmath::ublasExtra::ia_set(1,1); }
};


}}}

#endif // HARDWARE_SENSOR_GPSGENOM_HPP_