BaseDevice.hpp

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// Copyright (c) 2026 EduArt Robotik GmbH

 
#pragma once
 
#include "sensorring/math/Math.hpp"
 
#include "BaseSensor.hpp"
#include "DeviceID.hpp"
#include "DeviceState.hpp"
#include "IDevice.hpp"
 
namespace eduart {
 
namespace device {

class SENSORRING_EXPORT DeviceImpl;

struct DevicePoseOffset {

  math::Vector3 board_center_translation_offset;

  math::Vector3 board_center_rotation_offset;
};

class SENSORRING_EXPORT BaseDevice : public IDevice, public BaseSensor {
public:
  BaseDevice(DeviceID id, com::ComInterface* interface, com::ComEndpoint target, bool enable);

  DeviceID getDeviceID() const;

  void setPoseOffset(const DevicePoseOffset& offset) { _pose_offset = offset; }

  DevicePoseOffset getPoseOffset() const { return _pose_offset; }
 
  // void setEnable(bool enable);
  // bool getEnable() const;
 
protected:
  DeviceState _state;

  DeviceID _id;

  bool _enable;

  DevicePoseOffset _pose_offset{
    { 0.0, 0.0, 0.0 },
    { 0.0, 0.0, 0.0 }
  };
};
 
} // namespace device
 
} // namespace eduart