Sensor.h

00001 #ifndef _H_SENSOR_H
00002 #define _H_SENSOR_H
00003 
00004 #include "Vector3.h"
00005 
00006 /// Base class for I2C-connected sensors. Defines functionality supported by all sensors.
00007 class Sensor
00008 {
00009 public:
00010     /// Defines protocol used to send data back to owner. Derive from this class and use Sensor.setDelegate() to receive sensor updates.
00011     class Delegate
00012     {
00013     public:
00014         /// A new sensor data frame, might be called several (hundred) times a second.
00015         virtual void sensorUpdate(Vector3 data) {}
00016     };
00017 
00018     virtual void setDelegate(Delegate &d) {
00019         delegate = &d;
00020     }
00021 
00022     /// Power on a sensor and make it ready for use.
00023     /// @return true if power-up was successful, false otherwise.
00024     virtual bool powerOn() = 0;
00025 
00026     /// Power off a sensor. This will generally only put the sensor into deep sleep.
00027     virtual void powerOff() = 0;
00028 
00029     virtual void start() = 0; ///< Start continuous data capture. If a delegate is set, its sensorUpdate() method will be called for each data frame.
00030     virtual void stop() = 0; ///< Stop capturing data.
00031 
00032     virtual Vector3 read() = 0; ///< Read and return instantaneous (current) sensor data. No need to start the sensor.
00033 
00034     Sensor() : delegate(&defaultDelegate) {}
00035 
00036 protected:
00037     Delegate defaultDelegate;
00038     Delegate *delegate;
00039 };
00040 
00041 #endif//_H_SENSOR_H