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98 lines
2.3 KiB
98 lines
2.3 KiB
#include <vector>
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#include <chrono>
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#include <thread>
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#include <sys/resource.h>
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#include "messaging.hpp"
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#include "common/i2c.h"
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#include "common/timing.h"
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#include "common/util.h"
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#include "common/swaglog.h"
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#include "sensors/sensor.hpp"
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#include "sensors/constants.hpp"
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#include "sensors/bmx055_accel.hpp"
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#include "sensors/bmx055_gyro.hpp"
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#include "sensors/bmx055_magn.hpp"
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#include "sensors/bmx055_temp.hpp"
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#include "sensors/lsm6ds3_accel.hpp"
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#include "sensors/lsm6ds3_gyro.hpp"
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#include "sensors/lsm6ds3_temp.hpp"
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#include "sensors/light_sensor.hpp"
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#define I2C_BUS_IMU 1
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ExitHandler do_exit;
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int sensor_loop() {
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I2CBus *i2c_bus_imu;
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try {
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i2c_bus_imu = new I2CBus(I2C_BUS_IMU);
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} catch (std::exception &e) {
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LOGE("I2CBus init failed");
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return -1;
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}
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BMX055_Accel bmx055_accel(i2c_bus_imu);
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BMX055_Gyro bmx055_gyro(i2c_bus_imu);
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BMX055_Magn bmx055_magn(i2c_bus_imu);
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BMX055_Temp bmx055_temp(i2c_bus_imu);
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LSM6DS3_Accel lsm6ds3_accel(i2c_bus_imu);
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LSM6DS3_Gyro lsm6ds3_gyro(i2c_bus_imu);
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LSM6DS3_Temp lsm6ds3_temp(i2c_bus_imu);
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LightSensor light("/sys/class/i2c-adapter/i2c-2/2-0038/iio:device1/in_intensity_both_raw");
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// Sensor init
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std::vector<Sensor *> sensors;
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sensors.push_back(&bmx055_accel);
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sensors.push_back(&bmx055_gyro);
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sensors.push_back(&bmx055_magn);
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sensors.push_back(&bmx055_temp);
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sensors.push_back(&lsm6ds3_accel);
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sensors.push_back(&lsm6ds3_gyro);
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sensors.push_back(&lsm6ds3_temp);
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sensors.push_back(&light);
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for (Sensor * sensor : sensors){
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int err = sensor->init();
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if (err < 0){
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LOGE("Error initializing sensors");
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return -1;
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}
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}
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PubMaster pm({"sensorEvents"});
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while (!do_exit){
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std::chrono::steady_clock::time_point begin = std::chrono::steady_clock::now();
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const int num_events = sensors.size();
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MessageBuilder msg;
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auto sensor_events = msg.initEvent().initSensorEvents(num_events);
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for (int i = 0; i < num_events; i++){
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auto event = sensor_events[i];
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sensors[i]->get_event(event);
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}
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pm.send("sensorEvents", msg);
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std::chrono::steady_clock::time_point end = std::chrono::steady_clock::now();
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std::this_thread::sleep_for(std::chrono::milliseconds(10) - (end - begin));
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}
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return 0;
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}
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int main(int argc, char *argv[]) {
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setpriority(PRIO_PROCESS, 0, -13);
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return sensor_loop();
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}
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