tactigon_BGDM.h

#ifndef TACTIGON_BGDM_H_
#define TACTIGON_BGDM_H_


extern void printToArduino(char *p);


/****************************************************************************/
typedef void (*BGDM_evt_cb)(uint8_t *pData, uint8_t dataLen);
        



class Gesture_params
{

};
/************************************************/
class ROLL_ROT_params : public Gesture_params
{
    public:
        int threshold;      
        int stillTime;      
};

/************************************************/
class PITCH_ROT_params : public Gesture_params
{
    public:
        int threshold;      
        int stillTime;      
};

/************************************************/
class YAW_ROT_params : public Gesture_params
{
    public:
        int threshold;      
        int stillTime;      
};


/************************************************/
class GenMov_X_params : public Gesture_params
{
    public:
        float threshold;                        
        unsigned int stillTime;                 
        unsigned int angleNormalized;           
};

/************************************************/
class GenMov_Y_params : public Gesture_params
{
    public:
        float threshold;                        
        unsigned int stillTime;                 
        unsigned int angleNormalized;           
};


/************************************************/
class GenMov_Z_params : public Gesture_params
{
    public:
        float threshold;                        
        unsigned int stillTime;                 
        unsigned int angleNormalized;           
};


/************************************************/
class GenRot_X_params : public Gesture_params
{
    public:
        float threshold;                        
        unsigned int stillTime;                 
};

/************************************************/
class GenRot_Y_params : public Gesture_params
{
    public:
        float threshold;                        
        unsigned int stillTime;                 
};

/************************************************/
class GenRot_Z_params : public Gesture_params
{
    public:
        float threshold;                        
        unsigned int stillTime;                 
};





/************************************************/
class Gesture
{
    public:
        BGDM_evt_cb cb;
        virtual void setParams(void *) {};
        virtual void printPar(void) = 0;
        virtual void evalGest(void) = 0;
};
/************************************************/
class T_BGDM
{
    public:
        enum BGDM_gestures 
        {
            ROLL_ROT,           
            PITCH_ROT,          
            YAW_ROT,            
            GENMOV_X,           
            GENMOV_Y,           
            GENMOV_Z,           
            GENROT_X,           
            GENROT_Y,           
            GENROT_Z,           
            ALL,
            HALT
        };
        
                    
        
    
        /****************************************************************************/
        T_BGDM(void);
        
        
        /****************************************************************************/
        void enable(BGDM_gestures gestureToEnable);
        
        
        /****************************************************************************/
        void engineRun(void);
        
        
        /****************************************************************************/
        int configGest(BGDM_gestures gestureID, Gesture_params *pPar);
        
        /****************************************************************************/
        int installEventCB(BGDM_gestures gestureID, BGDM_evt_cb pCBFuncPointer);        
        
    
        BGDM_evt_cb     haltCB;
    
    private:                    
        unsigned char   m_enabledGestures[ALL];
        
        Gesture         *m_GestArray[ALL];
        
        
};




/************************************************/
class Roll_Gesture : public Gesture
{
    public:
        Roll_Gesture(T_BGDM *pEngine);
        void setParams(void *);
        void printPar(void);
        void evalGest(void);
        
        ROLL_ROT_params params; 
        
    private:
        
        typedef enum 
        {
            STILL,
            EVENT,
            WAIT_FOR_STILL,
            EVENT_HALT
        }
        eSTATS_MACHINE;
    
        unsigned int    m_stillTimeStart;
        eSTATS_MACHINE  m_stat;
        unsigned int    m_HST_FACT_PERC;
        unsigned int    m_STILL_TIME;
        
        T_BGDM          *m_pEngine;
};


/************************************************/
class Pitch_Gesture : public Gesture
{
    public:
        Pitch_Gesture(T_BGDM *pEngine);
        void setParams(void *);
        void printPar(void);
        void evalGest(void);
        
        PITCH_ROT_params    params;
        
    private:
        
        typedef enum 
        {
            STILL,
            EVENT,
            WAIT_FOR_STILL,
            EVENT_HALT
        }
        eSTATS_MACHINE;
    
        unsigned int    m_stillTimeStart;
        eSTATS_MACHINE  m_stat;
        unsigned int    m_HST_FACT_PERC;
        unsigned int    m_STILL_TIME;
        
        T_BGDM          *m_pEngine;
};


/************************************************/
class Yaw_Gesture : public Gesture
{   
    public:
        Yaw_Gesture(T_BGDM *pEngine);
        void setParams(void *);
        void printPar(void);
        void evalGest(void);
        
        YAW_ROT_params      params;
        
    private:
        
        typedef enum 
        {
            FIRST_TIME,
            STILL,
            EVENT,
            WAIT_FOR_STILL,
            EVENT_HALT
        }
        eSTATS_MACHINE;
    
        unsigned int    m_stillTimeStart;
        eSTATS_MACHINE  m_stat;
        unsigned int    m_HST_FACT_PERC;
        unsigned int    m_STILL_TIME;
        float           m_prevYaw;
        float           m_yawZero;
        
        T_BGDM          *m_pEngine;
};



/************************************************/
class GenMov_X_Gesture : public Gesture
{
    public:
        GenMov_X_Gesture(T_BGDM *pEngine);
        void setParams(void *);
        void printPar(void);
        void evalGest(void);
        
        GenMov_X_params params; 
        
    private:
        
        typedef enum 
        {
            STILL,
            EVENT,
            WAIT_FOR_STILL,
            EVENT_HALT
        }
        eSTATS_MACHINE;
    
        unsigned int    m_stillTimeStart;
        eSTATS_MACHINE  m_stat;
        unsigned int    m_HST_FACT_PERC;
        
        T_BGDM          *m_pEngine;
};


/************************************************/
class GenMov_Y_Gesture : public Gesture
{
    public:
        GenMov_Y_Gesture(T_BGDM *pEngine);
        void setParams(void *);
        void printPar(void);
        void evalGest(void);
        
        GenMov_Y_params params; 
        
    private:
        
        typedef enum 
        {
            STILL,
            EVENT,
            WAIT_FOR_STILL,
            EVENT_HALT
        }
        eSTATS_MACHINE;
    
        unsigned int    m_stillTimeStart;
        eSTATS_MACHINE  m_stat;
        unsigned int    m_HST_FACT_PERC;
        
        T_BGDM          *m_pEngine;
};

/************************************************/
class GenMov_Z_Gesture : public Gesture
{
    public:
        GenMov_Z_Gesture(T_BGDM *pEngine);
        void setParams(void *);
        void printPar(void);
        void evalGest(void);
        
        GenMov_Z_params params; 
        
    private:
        
        typedef enum 
        {
            STILL,
            EVENT,
            WAIT_FOR_STILL,
            EVENT_HALT
        }
        eSTATS_MACHINE;
    
        unsigned int    m_stillTimeStart;
        eSTATS_MACHINE  m_stat;
        unsigned int    m_HST_FACT_PERC;
        
        T_BGDM          *m_pEngine;
};



/************************************************/
class GenRot_X_Gesture : public Gesture
{
    public:
        GenRot_X_Gesture(T_BGDM *pEngine);
        void setParams(void *);
        void printPar(void);
        void evalGest(void);
        
        GenRot_X_params params; 
        
    private:
        
        typedef enum 
        {
            STILL,
            EVENT,
            WAIT_FOR_STILL,
            EVENT_HALT
        }
        eSTATS_MACHINE;
    
        unsigned int    m_stillTimeStart;
        eSTATS_MACHINE  m_stat;
        unsigned int    m_HST_FACT_PERC;
        
        T_BGDM          *m_pEngine;
};

/************************************************/
class GenRot_Y_Gesture : public Gesture
{
    public:
        GenRot_Y_Gesture(T_BGDM *pEngine);
        void setParams(void *);
        void printPar(void);
        void evalGest(void);
        
        GenRot_Y_params params; 
        
    private:
        
        typedef enum 
        {
            STILL,
            EVENT,
            WAIT_FOR_STILL,
            EVENT_HALT
        }
        eSTATS_MACHINE;
    
        unsigned int    m_stillTimeStart;
        eSTATS_MACHINE  m_stat;
        unsigned int    m_HST_FACT_PERC;
        
        T_BGDM          *m_pEngine;
};

/************************************************/
class GenRot_Z_Gesture : public Gesture
{
    public:
        GenRot_Z_Gesture(T_BGDM *pEngine);
        void setParams(void *);
        void printPar(void);
        void evalGest(void);
        
        GenRot_Z_params params; 
        
    private:
        
        typedef enum 
        {
            STILL,
            EVENT,
            WAIT_FOR_STILL,
            EVENT_HALT
        }
        eSTATS_MACHINE;
    
        unsigned int    m_stillTimeStart;
        eSTATS_MACHINE  m_stat;
        unsigned int    m_HST_FACT_PERC;
        
        T_BGDM          *m_pEngine;
};

#endif