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vnproglib/cpp/include/vn/ezasyncdata.h

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+#ifndef _VNSENSORS_EZASYNCDATA_H_
+#define _VNSENSORS_EZASYNCDATA_H_
+
+#include <string>
+
+#include "vn/int.h"
+#include "vn/nocopy.h"
+#include "vn/sensors.h"
+#include "vn/compositedata.h"
+#include "vn/criticalsection.h"
+#include "vn/event.h"
+#include "vn/export.h"
+
+namespace vn {
+namespace sensors {
+
+/// \brief Provides easy and reliable access to asynchronous data from a
+/// VectorNav sensor at the cost of a slight performance hit.
+class vn_proglib_DLLEXPORT EzAsyncData : private util::NoCopy
+{
+private:
+	explicit EzAsyncData(VnSensor* sensor);
+
+public:
+	/// \brief DTOR
+	~EzAsyncData();
+
+	/// \brief Returns the underlying sensor object.
+	/// \return The sensor object.
+	VnSensor* sensor();
+
+	/// \brief Connects to a sensor with the specified connection parameters.
+	///
+	/// \param[in] portName The COM port name.
+	/// \param[in] baudrate Baudrate to connect to the sensor at.
+	/// \return New EzAsyncData object wrapping the connected sensor and
+	///     providing easy access to asynchronous data.
+	static EzAsyncData* connect(std::string portName, uint32_t baudrate);
+
+	/// \brief Disconnects from the VectorNav sensor.
+	void disconnect();
+
+	/// \brief Gets the latest collection of current data received from asychronous
+	/// messages from the sensor.
+	///
+	/// \return The latest current data.
+	CompositeData currentData();
+
+	/// \brief Gets the next data packet available and blocks until a data
+	/// packet is received if there is currently not data available.
+	///
+	/// \return The received data packet.
+	CompositeData getNextData();
+
+	/// \brief This method will get the next data packet available and block until
+	/// a data packet is received if there is currently not data available.
+	///
+	/// \param[in] timeoutMs The number of milliseconds to wait for the next available data.
+	/// \return The next received packet of data.
+	/// \exception timeout Did not receive new data by the timeout.
+	CompositeData getNextData(int timeoutMs);
+
+private:
+	static void asyncPacketReceivedHandler(void* userData, protocol::uart::Packet& p, size_t index);
+
+private:
+	VnSensor* _sensor;
+	xplat::CriticalSection _mainCS, _copyCS;
+	CompositeData _persistentData, _nextData;
+	xplat::Event _newDataEvent;
+};
+
+}
+}
+
+#endif