ImuControl/main.cpp

Demonstrates:

• Initializing ImuControl
• Receiving IMU sensor events
• Reading orientation and motion data

 
#include <chrono>
#include <thread>
#include <spdlog/spdlog.h>
 
#include "ImuControl.h"
#include "Helper.h"
 
void onImuUpdate(ImuData data)
{
    spdlog::info("IMU Update - Yaw: {:.2f}, Pitch: {:.2f}, Roll: {:.2f}", data.ypr.yaw, data.ypr.pitch, data.ypr.roll);
}
 
void onImuGesture(ImuGesture type, GestureDirection from)
{
    spdlog::info("IMU Gesture - Type: {}, Direction: {}", ImuEvent::getGestureStr(type), ImuEvent::getDirectionStr(from));
}
 
int main()
{
    // Setup spdlog
    spdlog::set_level(spdlog::level::info); // Set as needed
    spdlog::flush_on(spdlog::level::trace); // flush everything
 
    // *** IMPORTANT *** 
    // Stop doly service if running,
    // otherwise instance of libraries cause conflict   
    if (Helper::stopDolyService() < 0) {
        spdlog::error("Doly service stop failed");
        return -1;
    }
 
    // For better performance provide actual calibrated IMU offsets or calculate them once after initialization
    // with the help of ImuControl::calculate_offsets() and use them for next initializations.
    // in this example we will use Helper to get previously saved offsets 
 
    // Read settings
    // one time read is sufficient for the lifetime of the application
    int8_t res = Helper::readSettings();
    if (res < 0)
    {
        spdlog::error("Read settings failed with code: {}", res);
        return -2;
    }
 
    // Get pre defined IMU offsets
    int16_t gx, gy, gz, ax, ay, az;
    res = Helper::getImuOffsets(gx, gy, gz, ax, ay, az);
    if (res < 0)
    {
        spdlog::error("Get IMU offsets failed with code: {}", res);
        return -3;
    }
 
    // Get ImuControl version
    spdlog::info("ImuControl Version:{:.3f}", ImuControl::getVersion());
 
    // Initialize IMU Control with offsets
    // delay 1 second before processing events
    if (ImuControl::init(1, gx, gy, gz, ax, ay, az) < 0)
    {
        spdlog::error("ImuControl init failed");
        return -2;
    }
    
    ImuEvent::AddListenerUpdateEvent(onImuUpdate);
    ImuEvent::AddListenerGestureEvent(onImuGesture);
 
    // wait for a while before exiting
    std::this_thread::sleep_for(std::chrono::seconds(30));
 
    // Cleanup
    ImuEvent::RemoveListenerUpdateEvent(onImuUpdate);
    ImuEvent::RemoveListenerGestureEvent(onImuGesture);
    ImuControl::dispose();
 
    return 0;
}