AHRSInputIOProcessor.hpp

/*
*
* This is the IO Processor for the Xsens MTi-630 AHRS:
* https://www.xsens.com/products/mti-600-series
* The AHRS is able to calculate a lot of different orientational data,
* we are specfically using it to find the Yaw Euler Angle.
* Currently you must manually specify which COM port the device is connected
* to, this is right at the begining of the CreateFile() method call.
* By defualt it is set to COM8, you may have to change it to the correct port
* on your system. You can find the corrct port manually by opening Device Manager,
* under "Ports(COM & LPT)" you can see the ports detected by your system.
*/

#ifndef AHRS_INPUT_IO_PROCESSOR_HPP
#define AHRS_INPUT_IO_PROCESSOR_HPP

#include "IOProcessor.hpp"
#include "DataSyncThread.hpp"
#include "Attribute.hpp"

#include <windows.h>
#include <iostream>

class AHRSInputIOProcessor : public IOProcessor
{
public:
    using IOProcessor::IOProcessor;

    void loop();
    bool loopCondition();
    int configAHRS();   // Initialize the AHRS for the first time
private:
    int iterations = 10;
    bool configured = false;
    HANDLE hSerial;
};

#endif