SensorBus.hpp

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// Copyright (c) 2026 EduArt Robotik GmbH

 
#pragma once
 
#include <memory>
#include <vector>
 
#include "sensorring/interface/ComInterfaceID.hpp"
#include "sensorring/platform/SensorringExport.hpp"
#include "sensorring/subscription/Subscription.hpp"
 
#include "SensorBoard.hpp"
 
namespace eduart {
 
namespace com {
class ComInterface;
}
 
namespace ring {
 
using namespace std::chrono_literals;

class SENSORRING_EXPORT SensorBus {
public:
  SensorBus(com::ComInterfaceID interface, std::vector<std::unique_ptr<device::SensorBoard> > board_vec);

  void setBitRateSwitching(bool brs_enable);

  unsigned int getSensorCount() const;

  com::ComInterface* getInterface() const;

  std::vector<device::SensorBoard*> getSensorBoards() const;

  static std::vector<device::EnumerationInformation> queryConnectedDevices(com::ComInterfaceID interface, std::chrono::milliseconds timeout = 250ms);
 
private:
  com::ComInterface* _interface;
 
  std::vector<std::unique_ptr<device::SensorBoard> > _board_vec;
 
  subscription::Subscription _com_subscription;
};
 
} // namespace ring
 
} // namespace eduart