SensorBoard.hpp

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// Copyright (c) 2026 EduArt Robotik GmbH

 
#pragma once
 
#include <memory>
#include <mutex>
 
#include "sensorring/SensorBoardParams.hpp"
#include "sensorring/device/BaseDevice.hpp"
#include "sensorring/device/EnumerationInformation.hpp"
#include "sensorring/interface/ComInterfaceID.hpp"
#include "sensorring/platform/SensorringExport.hpp"
#include "sensorring/subscription/Subscription.hpp"
 
namespace eduart {
 
namespace com {
class ComInterface;
}
 
namespace device {

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

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

  std::vector<BaseDevice*> getDevices() const;
 
private:
  void comCallback(const com::ComEndpoint source, const std::vector<uint8_t>& data);
 
  unsigned int _idx;
  com::ComInterface* _interface;
  const SensorBoardParams _params;
  EnumerationInformation _enum_info;
 
  std::vector<std::unique_ptr<device::BaseDevice> > _device_vec;
 
  mutable std::recursive_mutex _com_mutex;
  using LockGuard = std::lock_guard<std::recursive_mutex>;
 
  subscription::Subscription _com_subscription;
};
 
} // namespace device
 
} // namespace eduart