add IMU client APIs

PRIArobotics · Jul 10, 2019 · c06c99b · c06c99b
1 parent 9bf934a
commit c06c99b
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Showing 2 changed files with 41 additions and 2 deletions.
diff --git a/hedgehog/client/hedgehogClient.ts b/hedgehog/client/hedgehogClient.ts
@@ -3,7 +3,7 @@
  */
 
 import { RequestMsg, ReplyMsg, Message,
-         ack, version, emergency, io, analog, digital, motor, servo, process } from '../protocol';
+         ack, version, emergency, io, analog, digital, motor, servo, imu, process } from '../protocol';
 
 export { AcknowledgementCode } from '../protocol/messages/ack';
 export { IOFlags } from '../protocol/messages/io';
@@ -188,6 +188,21 @@ export class HedgehogClient {
         return reply.position;
     }
 
+    public async getImuRate(): Promise<[number, number, number]> {
+        let reply = await this.send<imu.RateReply>(new imu.RateRequest());
+        return [reply.x, reply.y, reply.z];
+    }
+
+    public async getImuAcceleration(): Promise<[number, number, number]> {
+        let reply = await this.send<imu.AccelerationReply>(new imu.AccelerationRequest());
+        return [reply.x, reply.y, reply.z];
+    }
+
+    public async getImuPose(): Promise<[number, number, number]> {
+        let reply = await this.send<imu.PoseReply>(new imu.PoseRequest());
+        return [reply.x, reply.y, reply.z];
+    }
+
     public close () {
         this.socket.close();
     }

diff --git a/test/client.spec.ts b/test/client.spec.ts
@@ -4,7 +4,7 @@ import "@babel/polyfill";
 import * as assert from 'assert';
 import * as zmq from 'zeromq';
 
-import { HedgehogClient, protocol, Message, ack, version, emergency, io, analog, digital, motor, servo } from "../hedgehog";
+import { HedgehogClient, protocol, Message, ack, version, emergency, io, analog, digital, motor, servo, imu } from "../hedgehog";
 
 describe('Client', () => {
     let server = null;
@@ -212,6 +212,30 @@ describe('Client', () => {
         assert.strictEqual(await hedgehog.getServoPosition(0), 1000);
     });
 
+    it('`getImuRate` should work', async () => {
+        mock_server(
+            [[new imu.RateRequest()], [new imu.RateReply(0, 0, 0)]],
+        );
+
+        assert.deepStrictEqual(await hedgehog.getImuRate(), [0, 0, 0]);
+    });
+
+    it('`getImuAcceleration` should work', async () => {
+        mock_server(
+            [[new imu.AccelerationRequest()], [new imu.AccelerationReply(0, 0, 0)]],
+        );
+
+        assert.deepStrictEqual(await hedgehog.getImuAcceleration(), [0, 0, 0]);
+    });
+
+    it('`getImuPose` should work', async () => {
+        mock_server(
+            [[new imu.PoseRequest()], [new imu.PoseReply(0, 0, 0)]],
+        );
+
+        assert.deepStrictEqual(await hedgehog.getImuPose(), [0, 0, 0]);
+    });
+
     after(() => {
         hedgehog.close();
         hedgehog = null;