ImuGyroscopeAdapter.hpp

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#pragma once
 
#include "GyroscopeBase.hpp"
#include "ImuBase.hpp"
 
class ImuGyroscopeAdapter : public GyroscopeBase
{
public:
    explicit ImuGyroscopeAdapter(ImuBase &dev) : _dev(dev) {}
 
    bool readData(GyroscopeData &data) override
    {
        return _dev.readGyro(data);
    }
 
    bool isDataReady() override
    {
        return _dev.isDataReady(static_cast<uint8_t>(ImuBase::DataReadyMask::GYRO));
    }
 
    bool reset() override
    {
        return _dev.reset();
    }
 
    bool selfTest() override
    {
        return _dev.selfTest();
    }
 
    bool setFullScaleRange(GyroFullScaleRange range) override
    {
        return _dev.setGyroFullScaleRange(range);
    }
 
    bool setOutputDataRate(float data_rate_hz) override
    {
        return _dev.setGyroOutputDataRate(data_rate_hz);
    }
 
    bool setOperationMode(OperationMode mode) override
    {
        return _dev.setOperationMode(mode);
    }
 
private:
    ImuBase &_dev;
};