imu_terminal_serial_handler.hpp

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/*****************************************************************************/
/********** !!! WARNING: CODE GENERATED BY TAPROOT. DO NOT EDIT !!! **********/
/*****************************************************************************/
 
/*
 * Copyright (c) 2020-2022 Advanced Robotics at the University of Washington <robomstr@uw.edu>
 *
 * This file is part of Taproot.
 *
 * Taproot is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * Taproot is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with Taproot.  If not, see <https://www.gnu.org/licenses/>.
 */
 
#ifndef TAPROOT_IMU_TERMINAL_SERIAL_HANDLER_HPP_
#define TAPROOT_IMU_TERMINAL_SERIAL_HANDLER_HPP_
 
#include "tap/communication/serial/terminal_serial.hpp"
#include "tap/util_macros.hpp"
 
#include "modm/architecture/interface/register.hpp"
 
#include "abstract_imu.hpp"
 
namespace tap
{
class Drivers;
}
 
namespace tap::communication::sensors::imu
{
class ImuTerminalSerialHandler : public communication::serial::TerminalSerialCallbackInterface
{
public:
    ImuTerminalSerialHandler(Drivers* drivers, AbstractIMU* imu)
        : drivers(drivers),
          imu(imu),
          subjectsBeingInspected(0)
    {
    }
 
    mockable void init();
 
    bool terminalSerialCallback(
        char* inputLine,
        modm::IOStream& outputStream,
        bool streamingEnabled) override;
 
    void terminalSerialStreamCallback(modm::IOStream& outputStream) override;
 
private:
    static constexpr char USAGE[] =
        " [-h] [angle] [gyro] [accel] [temp]\n"
        "  Where:\n"
        "    - [-h] Prints usage\n"
        "    - [angle] Prints angle data\n"
        "    - [gyro] Prints gyro data\n"
        "    - [accel] Prints accel data\n"
        "    - [temp] Prints temp data\n";
 
    Drivers* drivers;
 
    AbstractIMU* imu;
 
    enum InspectSubject : uint8_t
    {
        ANGLES = 1,
        GYRO = 1 << 1,
        ACCEL = 1 << 2,
        TEMP = 1 << 3
    };
 
    MODM_FLAGS8(InspectSubject);
 
    InspectSubject_t subjectsBeingInspected;
 
    void printHeader(modm::IOStream& outputStream);
};  // class ImuTerminalSerialHandler
}  // namespace tap::communication::sensors::imu
 
#endif  // TAPROOT_MPU6500_TERMINAL_SERIAL_HANDLER_HPP_