ROME 2 Praktikum 4
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HTTPScriptIMU.cpp
00001 /* 00002 * HTTPScriptIMU.cpp 00003 * Copyright (c) 2020, ZHAW 00004 * All rights reserved. 00005 */ 00006 00007 #include "HTTPScriptIMU.h" 00008 00009 using namespace std; 00010 00011 inline string float2String(float f) { 00012 00013 char buffer[32]; 00014 sprintf(buffer, "%.3f", f); 00015 00016 return string(buffer); 00017 } 00018 00019 /** 00020 * Create and initialize this http script. 00021 * @param imu a reference to the imu to read data from. 00022 */ 00023 HTTPScriptIMU::HTTPScriptIMU(IMU& imu) : imu(imu) {} 00024 00025 HTTPScriptIMU::~HTTPScriptIMU() {} 00026 00027 /** 00028 * This method gets called by the http server, when an object of this class is 00029 * registered with the server, and the corresponding script is called 00030 * by an http client. 00031 */ 00032 string HTTPScriptIMU::call(vector<string> names, vector<string> values) { 00033 00034 string response; 00035 00036 response += " <imu>\r\n"; 00037 response += " <acceleration>\r\n"; 00038 response += " <x><float>"+float2String(imu.readAccelerationX())+"</float></x>\r\n"; 00039 response += " <y><float>"+float2String(imu.readAccelerationY())+"</float></y>\r\n"; 00040 response += " <z><float>"+float2String(imu.readAccelerationZ())+"</float></z>\r\n"; 00041 response += " </acceleration>\r\n"; 00042 response += " <gyro>\r\n"; 00043 response += " <x><float>"+float2String(imu.readGyroX())+"</float></x>\r\n"; 00044 response += " <y><float>"+float2String(imu.readGyroY())+"</float></y>\r\n"; 00045 response += " <z><float>"+float2String(imu.readGyroZ())+"</float></z>\r\n"; 00046 response += " </gyro>\r\n"; 00047 response += " <magnetometer>\r\n"; 00048 response += " <x><float>"+float2String(imu.readMagnetometerX())+"</float></x>\r\n"; 00049 response += " <y><float>"+float2String(imu.readMagnetometerY())+"</float></y>\r\n"; 00050 response += " <z><float>"+float2String(imu.readMagnetometerZ())+"</float></z>\r\n"; 00051 response += " </magnetometer>\r\n"; 00052 00053 response += " </imu>\r\n"; 00054 00055 return response; 00056 } 00057
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