Program Listing for File imu_diag_data_provider.h

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/*******************************************************************************
 *   @file   imu_diag_data_provider.h
 *   @brief  Header for providing diagnosis data for adis.
 *   @author Vasile Holonec (Vasile.Holonec@analog.com)
*******************************************************************************/
// Copyright 2023 Analog Devices, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef ADI_IMU__IMU_DIAG_DATA_PROVIDER_H_
#define ADI_IMU__IMU_DIAG_DATA_PROVIDER_H_

#include "adi_imu/iio_wrapper.h"
#include "adi_imu/imu_diag_data_provider_interface.h"

namespace adi_imu
{
class ImuDiagDataProvider : public ImuDiagDataProviderInterface
{
public:
  ImuDiagDataProvider();

  ~ImuDiagDataProvider();

  bool getData(adi_imu::msg::ImuDiagDataADIS1646X & message) override;
  bool getData(adi_imu::msg::ImuDiagDataADIS1647X & message) override;
  bool getData(adi_imu::msg::ImuDiagDataADIS1650X & message) override;
  bool getData(adi_imu::msg::ImuDiagDataADIS1654X & message) override;
  bool getData(adi_imu::msg::ImuDiagDataADIS1655X & message) override;
  bool getData(adi_imu::msg::ImuDiagDataADIS1657X & message) override;

private:
  IIOWrapper m_iio_wrapper;

  template <typename MessageType>
  bool populateCommonFields(MessageType & message);

  template <typename MessageType>
  bool populateAxisFailureFields(MessageType & message);
};

}  // namespace adi_imu

#endif  // ADI_IMU__IMU_DIAG_DATA_PROVIDER_H_