ImuMinimal.h File Reference

IMU interface and data handling for VOXL OpenVINS. More...

#include <mutex>
#include <functional>
#include <optional>
#include <array>
#include <modal_pipe.h>
#include "VoxlVars.h"
#include "VoxlCommon.h"
#include "CameraQueueFusion.h"
#include "VoxlHK.h"

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Functions
void	_imu_disconnect_cb (__attribute__((unused)) int ch, __attribute__((unused)) void *context)
	Callback for IMU disconnect events.
void	_imu_data_handler_cb (__attribute__((unused)) int ch, char *data, int bytes, __attribute__((unused)) void *context)
	Handler for incoming IMU data.
int	connect_imu_service (void)
	Creates IMU pipe client and associated callbacks.

Variables
std::mutex	imu_lock_mutex
	Mutex for IMU data access synchronization.

Detailed Description

IMU interface and data handling for VOXL OpenVINS.

Author

Zauberflote

Date

2025

Version

1.0

This header defines the IMU interface and callback functions for handling inertial measurement unit data in the VOXL OpenVINS system. It provides the connection to the IMU service and data processing capabilities.

Definition in file ImuMinimal.h.

Function Documentation

_imu_data_handler_cb()

void _imu_data_handler_cb	(	__attribute__((unused)) int	ch,
		char *	data,
		int	bytes,
		__attribute__((unused)) void *	context
	)

Handler for incoming IMU data.

This callback processes incoming IMU data, updates the system state, and triggers appropriate processing based on motion state. It serves as the primary entry point for all IMU data processing in the system.

The function:

• Extracts accelerometer and gyroscope measurements
• Updates system timestamps and state
• Triggers VIO processing when appropriate
• Manages data synchronization with camera data

Parameters

ch	Channel number (unused)
data	Pointer to IMU data buffer
bytes	Size of data buffer in bytes
context	Context pointer (unused)

_imu_disconnect_cb()

void _imu_disconnect_cb	(	__attribute__((unused)) int	ch,
		__attribute__((unused)) void *	context
	)

Callback for IMU disconnect events.

This function is called when the IMU service disconnects. It handles the cleanup and state management required when IMU data becomes unavailable.

Parameters

ch	Channel number (unused)
context	Context pointer (unused)

This function is called when the IMU service disconnects. It handles the cleanup and state management required when IMU data becomes unavailable.

The function uses thread-safe mutex locking to ensure proper state management during disconnection events.

Parameters

ch	Channel number (unused)
context	Context pointer (unused)

Definition at line 283 of file ImuMinimal.cpp.

References IMU_CH, imu_lock_mutex, and is_imu_connected.

Referenced by connect_imu_service().

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connect_imu_service()

int connect_imu_service

(

void

)

Creates IMU pipe client and associated callbacks.

This function sets up the disconnect and data handler callbacks, and opens the client pipe connection to the IMU service. It initializes the complete IMU data pipeline for the VIO system.

The function performs the following operations:

• Sets up disconnect callback for graceful handling of service disconnection
• Sets up data handler callback for processing incoming IMU measurements
• Opens the client pipe connection to the IMU service
• Configures the pipe for optimal data flow

Returns

0 on success, non-zero on failure

This function sets up the disconnect and data handler callbacks, and opens the client pipe connection to the IMU service. It initializes the complete IMU data pipeline for the VIO system.

The function performs the following operations:

• Sets up disconnect callback for graceful handling of service disconnection
• Sets up data handler callback for processing incoming IMU measurements
• Configures thread priority for high-frequency IMU processing
• Opens the client pipe connection to the IMU service
• Configures the pipe for optimal data flow
• Sets the IMU connection status flag

Returns

0 on success, -1 on failure

Definition at line 315 of file ImuMinimal.cpp.

References _imu_data_handler_cb(), _imu_disconnect_cb(), IMU_CH, imu_name, is_imu_connected, PROCESS_NAME, and vio_error_codes.

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Variable Documentation

imu_lock_mutex

std::mutex imu_lock_mutex

extern

Mutex for IMU data access synchronization.

Mutex used to synchronize access to IMU data between multiple threads.

Definition at line 80 of file ImuMinimal.cpp.

Referenced by _imu_disconnect_cb().