22#include "acquisition_thread.h"
23#include "sensor_thread.h"
25#include <core/plugin.h>
27# include "imu_cruizcore_xg1010.h"
46 std::set<std::string> configs;
47 std::set<std::string> ignored_configs;
49 std::string prefix =
"/hardware/imu/";
51#if __cplusplus >= 201103L
52 std::unique_ptr<Configuration::ValueIterator> i(
config->
search(prefix.c_str()));
54 std::auto_ptr<Configuration::ValueIterator> i(
config->
search(prefix.c_str()));
57 std::string cfg_name = std::string(i->path()).substr(prefix.length());
58 cfg_name = cfg_name.substr(0, cfg_name.find(
"/"));
60 if ((configs.find(cfg_name) == configs.end())
61 && (ignored_configs.find(cfg_name) == ignored_configs.end())) {
62 std::string cfg_prefix = prefix + cfg_name +
"/";
73 bool continuous =
false;
75 continuous =
config->
get_bool((cfg_prefix +
"continuous").c_str());
82 if (type ==
"CruizCore-XG1010") {
88 throw Exception(
"Unknown IMU type '%s' for config %s",
98 configs.insert(cfg_name);
101 ignored_configs.insert(cfg_name);
113 throw Exception(
"No IMU devices configured, aborting");
118PLUGIN_DESCRIPTION(
"Driver for inertial measurement units (IMU)")
IMU acquisition thread for CruizCore XG1010 gyros.
IMUPlugin(Configuration *config)
Constructor.
Interface for configuration handling.
virtual bool get_bool(const char *path)=0
Get value from configuration which is of type bool.
virtual ValueIterator * search(const char *path)=0
Iterator with search results.
virtual std::string get_string(const char *path)=0
Get value from configuration which is of type string.
Base class for exceptions in Fawkes.
ThreadList thread_list
Thread list member.
Configuration * config
Fawkes configuration.
void push_back(Thread *thread)
Add thread to the end.
Fawkes library namespace.