initial

vnproglib/c/include/vn/sensors/ezasyncdata.h

@@ -0,0 +1,60 @@
+#ifndef _VNEZASYNCDATA_H_
+#define _VNEZASYNCDATA_H_
+
+#include "vn/int.h"
+#include "vn/error.h"
+#include "vn/sensors/compositedata.h"
+#include "vn/sensors.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/** \brief Structure supporting easy and reliable access to asynchronous data
+*   from a VectorNav sensor at the cost of a slight performance hit. */
+typedef struct
+{
+	/** \brief The associated connected sensor. */
+	VnSensor* sensor;
+
+	/** \brief Critical section for accessing the current data. */
+	VnCriticalSection* curDataCS;
+
+	/** \brief The current data received from asynchronous data packets. */
+	VnCompositeData* curData;
+
+} VnEzAsyncData;
+
+/** \brief Initializes and connects to a VectorNav sensor with the specified
+*   connection parameters.
+*
+* \param[in] ezAsyncData The associated VnEzAsyncData structure.
+* \param]in] portName The name of the serial port to connect to.
+* \param[in] baudrate The baudrate to connect at.
+* \return Any errors encountered. */
+VnError VnEzAsyncData_initializeAndConnect(VnEzAsyncData* ezAsyncData, const char* portName, uint32_t baudrate);
+
+/** \brief Disconnects from a VectorNav sensor.
+*
+* \param[in] ezAsyncData The associated VnEzAsyncData structure.
+* \return Any errors encountered. */
+VnError VnEzAsyncData_disconnectAndUninitialize(VnEzAsyncData* ezAsyncData);
+
+/** \brief Returns the most recent asynchronous data the VnEzAsyncData structure
+*   has processed.
+*
+* \param[in] ezAsyncData The associated VnEzAsyncData structure.
+* \return The latest data processed. */
+VnCompositeData VnEzAsyncData_currentData(VnEzAsyncData* ezAsyncData);
+
+/** \brief Returns the underlying VnSensor referenced.
+*
+* \param[in] ezAsyncData The associated VnEzAsyncData structure.
+* \return The underlying VnSensor reference. */
+VnSensor* VnEzAsyncData_sensor(VnEzAsyncData* ezAsyncData);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif