orientationsensor.h

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#ifndef ORIENTATION_SENSOR_CHANNEL_H
#define ORIENTATION_SENSOR_CHANNEL_H
 
#include "abstractsensor.h"
#include "abstractchain.h"
#include "orientationsensor_a.h"
#include "dataemitter.h"
#include "datatypes/orientationdata.h"
#include "datatypes/posedata.h"
#include "datatypes/unsigned.h"
 
class Bin;
template <class TYPE> class BufferReader;
class FilterBase;
 
class OrientationSensorChannel :
        public AbstractSensorChannel,
        public DataEmitter<PoseData>
{
    Q_OBJECT;
    Q_PROPERTY(Unsigned orientation READ orientation);
 
public:
 
    static AbstractSensorChannel* factoryMethod(const QString& id)
    {
        OrientationSensorChannel* sc = new OrientationSensorChannel(id);
        new OrientationSensorChannelAdaptor(sc);
 
        return sc;
    }
 
    Unsigned orientation() const
    {
        TimedUnsigned o = orientationChain_->property("orientation").value<TimedUnsigned>();
        return Unsigned(o);
    }
 
public Q_SLOTS:
    bool start();
    bool stop();
 
signals:
    void orientationChanged(const int& orientation);
 
protected:
    OrientationSensorChannel(const QString& id);
    virtual ~OrientationSensorChannel();
 
private:
    PoseData                         prevOrientation;
    Bin*                             filterBin_;
    Bin*                             marshallingBin_;
 
    AbstractChain*                   orientationChain_;
 
    BufferReader<PoseData>*   orientationReader_;
 
    RingBuffer<PoseData>*            outputBuffer_;
 
    void emitData(const PoseData& value);
};
 
#endif // ORIENTATION_SENSOR_CHANNEL_H