IMU.hpp

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#pragma once
 
#include <memory>
 
#include "hal/IIMU.hpp"
 
namespace libstp::hal::imu
{
    class IMU : public IIMU
    {
#ifdef SAFETY_CHECKS_ENABLED
        static bool imuInstanceCreated;
#endif
    public:
        IMU();
 
        ~IMU() override;

        static std::shared_ptr<IMU> instance();

        void read(float* accel, float* gyro, float* magneto) override;
        void getAngularVelocity(float* gyro) override;
        void calibrate() override;
        [[nodiscard]] float getHeading() override;
        void getLinearAcceleration(float* linear_accel) override;
        void getQuaternion(float* quat) override;
        void getIntegratedVelocity(float* vel) override;
        void resetIntegratedVelocity() override;

        bool waitForReady(int timeout_ms = 1000) override;
    };
}