SensorRingFactory.hpp

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// Copyright (c) 2026 EduArt Robotik GmbH

 
#pragma once
 
#include <string>
#include <unordered_map>
#include <variant>
#include <vector>
 
#include "sensorring/SensorBoardParams.hpp"
#include "sensorring/SensorRing.hpp"
#include "sensorring/device/DeviceType.hpp"
#include "sensorring/device/EnumerationInformation.hpp"
#include "sensorring/device/hardware/htpa32/HTPA32_Params.hpp"
#include "sensorring/device/hardware/vl53l8cx/VL53L8CX_Params.hpp"
#include "sensorring/device/hardware/ws2812b/WS2812b_Params.hpp"
#include "sensorring/interface/ComInterfaceID.hpp"
#include "sensorring/platform/SensorringExport.hpp"
 
namespace eduart {
 
namespace ring {

enum class ValidationMode {
  Strict,
  Relaxed
};

class SENSORRING_EXPORT SensorRingFactory {
public:
  using DeviceParamsVariant = std::variant<device::VL53L8CX_Params, device::HTPA32_Params, device::WS2812b_Params>;

  using EnumerationMap = std::unordered_map<com::ComInterfaceID, std::vector<device::EnumerationInformation> >;

  static constexpr Version MIN_FIRMWARE_VERSION = { 0, 8, 0 };

  void addInterface(com::ComInterfaceID interface);

  void expectBoard(device::SensorBoardParams params);

  void expectBoard(device::SensorBoardParams params, std::vector<DeviceParamsVariant> device_params);

  void setDefaultDeviceParams(DeviceParamsVariant params);

  std::unique_ptr<SensorRing> build(ValidationMode mode = ValidationMode::Strict);

  EnumerationMap enumerate();

  const EnumerationMap& getLatestEnumerationResult() const;

  std::string printTopology() const;

  void reset();
 
private:
  struct BoardExpectation {
    device::SensorBoardParams params;
    std::vector<DeviceParamsVariant> device_params;
    bool has_explicit_devices = false;
  };
 
  struct InterfaceConfig {
    com::ComInterfaceID interface;
    std::vector<BoardExpectation> expected_boards;
    bool has_expectations = false;
  };
 
  static device::DeviceType deviceTypeFromVariant(const DeviceParamsVariant& v);

  std::unordered_map<device::DeviceType, DeviceParamsVariant> buildDefaultParamsMap(const std::vector<device::DeviceType>& devices) const;
 
  std::vector<InterfaceConfig> _interfaces;
  std::unordered_map<device::DeviceType, DeviceParamsVariant> _default_device_params;
  EnumerationMap _enumeration_results;
};
 
} // namespace ring
 
} // namespace eduart