BaseSensor.hpp

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// Copyright (c) 2026 EduArt Robotik GmbH

 
#pragma once
 
#include <cstdint>
#include <future>
#include <mutex>
#include <optional>
#include <vector>
 
#include "sensorring/device/DeviceState.hpp"
#include "sensorring/interface/ComEndpoint.hpp"
#include "sensorring/math/Matrix3.hpp"
#include "sensorring/platform/SensorringExport.hpp"
#include "sensorring/subscription/Subscription.hpp"
 
namespace eduart {
// Forward declaration
namespace com {
class ComInterface;
}
 
namespace device {

class SENSORRING_EXPORT BaseSensor {
public:
  BaseSensor(com::ComInterface* interface, com::ComEndpoint target, unsigned int idx, bool enable);
  virtual ~BaseSensor();

  unsigned int getIdx() const;

  bool getEnable() const;

  void setEnable(bool enable);

  void setPose(math::Vector3 translation, math::Vector3 rotation);

  void resetSensorState();

  void clearDataFlag();

  std::future<bool> beginMeasurementWait();

  std::future<bool> beginDataAvailableWait();
 
protected:
  void setMeasurementReady(bool success);

  void setDataAvailableReady(bool success);
 
protected:
  virtual void onResetSensorState() = 0;

  virtual void onClearDataFlag() = 0;

  virtual void comCallback(const com::ComEndpoint source, const std::vector<std::uint8_t>& data) = 0;

  unsigned int _idx;
  DeviceState _error;
  com::ComInterface* _interface;

  math::Vector3 _translation;
  math::Vector3 _rotation;
  math::Matrix3 _rot_m;

  bool _enable_flag;
  mutable std::mutex _state_mutex;

  std::optional<std::promise<bool> > _measurement_promise;
  std::optional<std::promise<bool> > _data_available_promise;
  std::mutex _promise_mutex;

  subscription::Subscription _com_subscription;
};
 
} // namespace device
 
} // namespace eduart