Add BMI160 visualization

include/opengl-playground/globalcanvassettings.hpp

@@ -1,7 +1,7 @@
 #ifndef GLOBALCANVASSETTINGS_H
 #define GLOBALCANVASSETTINGS_H
 
-//#include <glm/glm.hpp>
+#include <glm/glm.hpp>
 
 class GlobalCanvasSettings
 {

include/opengl-playground/imu-serial.hpp

@@ -0,0 +1,35 @@
+#ifndef _IMU_SERIAL_HPP_
+#define _IMU_SERIAL_HPP_
+
+#include <string>
+#include <glm/glm.hpp>
+#include <glm/gtc/quaternion.hpp>
+#include <mutex>
+#include <thread>
+
+class ImuSerial
+{
+	public:
+		ImuSerial(const std::string &serial_device, unsigned int baud);
+		~ImuSerial();
+		void start();
+		void stop();
+
+		glm::quat get_quaternion();
+		const glm::mat4 get_rot_matrix();
+
+	private:
+		std::string serial_device;
+		unsigned int baud;
+		std::mutex quat_mutex;
+		glm::quat quaternion;
+		std::thread worker;
+		int stop_flag;
+		int fd;
+		friend void working_thread(ImuSerial *self);
+		friend void update_quaternion(ImuSerial *self, const glm::quat &quat);
+
+};
+
+
+#endif /* _IMU_SERIAL_HPP_ */