Device.hpp

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// Copyright (c) 2026 EduArt Robotik GmbH

 
#pragma once
 
#include <cstdint>
#include <functional>
#include <mutex>
#include <optional>
#include <vector>
 
#include "sensorring/board/SensorBoardParams.hpp"
#include "sensorring/device/action/ActionDispatcher.hpp"
#include "sensorring/device/types/DeviceID.hpp"
#include "sensorring/interface/ComEndpoint.hpp"
#include "sensorring/math/Pose.hpp"
#include "sensorring/platform/SensorringExport.hpp"
#include "sensorring/subscription/Subscription.hpp"
 
namespace eduart {
 
namespace sensorring {
 
namespace com {
class ComInterface;
}
 
namespace device {

class SENSORRING_EXPORT Device : public ActionDispatcher {
public:
  Device(DeviceID id, com::ComInterface* interface, com::ComEndpoint target);
 
  virtual ~Device();

  DeviceID getDeviceID() const;

  unsigned int getHwIdx() const;

  void setDeviceIndex(unsigned int index);

  virtual bool configure();

  void setBoardContext(const board::SensorBoardParams* board_params);

  const board::SensorBoardParams* getBoardContext() const;

  void setPoseOffset(const math::Pose& offset);

  math::Pose getPoseOffset() const;

  math::Pose getGlobalPose() const;
 
protected:
  virtual void comCallback(const com::ComEndpoint source, std::uint8_t command, const std::vector<std::uint8_t>& data) = 0;
 
  DeviceID _id;
  unsigned int _hw_idx;
 
  com::ComInterface* _interface;
 
  const board::SensorBoardParams* _board_params = nullptr;
  math::Pose _offset;
 
  subscription::Subscription _com_subscription;
};
 
} // namespace device
 
} // namespace sensorring
 
} // namespace eduart