orientationchain.h

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#ifndef ORIENTATIONCHAIN_H
#define ORIENTATIONCHAIN_H
 
#include "abstractsensor.h"
#include "abstractchain.h"
#include "deviceadaptor.h"
#include "bufferreader.h"
#include "filter.h"
#include "bin.h"
#include "datatypes/orientationdata.h"
#include "datatypes/posedata.h"
#include "datatypes/unsigned.h"
 
class Bin;
template <class TYPE> class BufferReader;
class FilterBase;
 
class OrientationChain : public AbstractChain
{
    Q_OBJECT;
 
    Q_PROPERTY(TimedUnsigned orientation READ orientation);
 
public:
    static AbstractChain* factoryMethod(const QString& id)
    {
        OrientationChain* sc = new OrientationChain(id);
        return sc;
    }
 
    TimedUnsigned orientation() const
    {
        QObject *filter = dynamic_cast<QObject*>(orientationInterpreterFilter_);
        if (filter != NULL) {
            PoseData pose = qvariant_cast< PoseData >(filter->property("orientation"));
            return TimedUnsigned(pose.timestamp_, pose.orientation_);
        }
        return TimedUnsigned();
    }
 
public Q_SLOTS:
    bool start();
    bool stop();
 
protected:
    OrientationChain(const QString& id);
    ~OrientationChain();
 
private:
    static double                    aconv_[3][3];
    Bin*                             filterBin_;
 
    AbstractChain*                   accelerometerChain_;
    BufferReader<AccelerationData>*  accelerometerReader_;
    FilterBase*                      orientationInterpreterFilter_;
    RingBuffer<PoseData>*            topEdgeOutput_;
    RingBuffer<PoseData>*            faceOutput_;
    RingBuffer<PoseData>*            orientationOutput_;
};
 
#endif // ORIENTATIONCHAIN_H