Change folder name

test/sensor_simulator/sensor.h

@@ -0,0 +1,83 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2019 ECL Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * Base class for defining the interface for simulaton of a sensor
+ * @author Kamil Ritz <ka.ritz@hotmail.com>
+ */
+
+#pragma once
+
+#include "EKF/ekf.h"
+#include <math.h>
+
+namespace sensor_simulator
+{
+
+class Sensor
+{
+public:
+
+	Sensor(Ekf* ekf);
+	virtual ~Sensor();
+
+	void update(uint32_t time);
+
+	void setRate(uint32_t rate){ _update_period = uint32_t(1000000)/rate; }
+
+	bool isRunning(){ return _is_running; }
+
+	void start(){ _is_running = true; }
+
+	void stop(){ _is_running = false; }
+
+protected:
+
+	Ekf* _ekf;
+	// time in microseconds
+	uint32_t _update_period;
+	uint32_t _time_last_data_sent{0};
+
+	bool _is_running{false};
+
+	bool should_send(uint32_t time);
+
+	// Checks that the right amount time passed since last send data to fulfill rate
+	bool is_time_to_send(uint32_t time);
+
+	// call set*Data function of Ekf
+	virtual void send(uint32_t time) = 0;
+
+};
+
+} // namespace sensor_simulator