SensorBoard.hpp

Go to the documentation of this file.

// Copyright (c) 2026 EduArt Robotik GmbH

 
#pragma once
 
#include <chrono>
#include <memory>
#include <mutex>
 
#include "sensorring/board/EnumerationInformation.hpp"
#include "sensorring/board/SensorBoardParams.hpp"
#include "sensorring/device/Device.hpp"
#include "sensorring/interface/ComInterfaceID.hpp"
#include "sensorring/math/Pose.hpp"
#include "sensorring/platform/SensorringExport.hpp"
#include "sensorring/subscription/Subscription.hpp"
 
using namespace std::chrono_literals;
 
namespace eduart {
 
namespace sensorring {
 
namespace com {
class ComInterface;
}
 
namespace board {

class SENSORRING_EXPORT SensorBoard {
public:
  SensorBoard(SensorBoardParams params, com::ComInterfaceID interface, unsigned int idx, std::vector<std::unique_ptr<device::Device> > devices);
  ~SensorBoard();

  bool isEnumerated() const;
  const board::EnumerationInformation& getEnumInfo() const;
  SensorBoardType getBoardType() const;

  std::vector<device::Device*> getDevices() const;

  bool configure();

  static bool resetBoards();

  static void cmdEnumerateBoards(com::ComInterfaceID interface);
 
private:
  friend struct SensorBoardTestAccess;
 
  using Mutex      = std::mutex;
  using UniqueLock = std::unique_lock<Mutex>;
 
  using RecursiveMutex = std::recursive_mutex;
  using RecursiveLock  = std::lock_guard<RecursiveMutex>;

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

  bool setOrientation(Orientation orientation);

  bool getOrientation(Orientation& orientation);
 
  static constexpr std::chrono::milliseconds GET_PARAMETER_SLEEP   = 10ms;
  static constexpr std::chrono::milliseconds GET_PARAMETER_TIMEOUT = 100ms;
 
  unsigned int _idx;
  SensorBoardParams _params;
 
  board::EnumerationInformation _enum_info;
  std::vector<std::unique_ptr<device::Device> > _device_vec;
 
  std::atomic<bool> _got_update;
  com::ComInterface* _interface;
  mutable RecursiveMutex _com_mutex;
  subscription::Subscription _com_subscription;
};
 
} // namespace board
 
} // namespace sensorring
 
} // namespace eduart