Program Listing for File velangtemp_data_provider.cpp
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/*******************************************************************************
* @file velangtemp_data_provider.cpp
* @brief Implementation for temperature, delta velocity and delta angle
* data provider.
* @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.
#include "adi_imu/velangtemp_data_provider.h"
namespace adi_imu
{
VelAngTempDataProvider::VelAngTempDataProvider() {}
VelAngTempDataProvider::~VelAngTempDataProvider() {}
bool VelAngTempDataProvider::getData(adi_imu::msg::VelAngTempData & message)
{
if (!m_iio_wrapper.updateBuffer(DELTAVEL_DELTAANG_BUFFERED_DATA)) return false;
message.delta_angle.x = m_iio_wrapper.getBuffDeltaAngleX();
message.delta_angle.y = m_iio_wrapper.getBuffDeltaAngleY();
message.delta_angle.z = m_iio_wrapper.getBuffDeltaAngleZ();
message.delta_velocity.x = m_iio_wrapper.getBuffDeltaVelocityX();
message.delta_velocity.y = m_iio_wrapper.getBuffDeltaVelocityY();
message.delta_velocity.z = m_iio_wrapper.getBuffDeltaVelocityZ();
message.temperature = m_iio_wrapper.getBuffTemperature();
message.header.frame_id = "velangtempdata";
m_iio_wrapper.getBuffSampleTimestamp(message.header.stamp.sec, message.header.stamp.nanosec);
return true;
}
} // namespace adi_imu