Sensor.hpp

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// Copyright (c) 2026 EduArt Robotik GmbH

 
#pragma once
 
#include <future>
#include <mutex>
#include <optional>
 
#include "sensorring/device/Device.hpp"
#include "sensorring/device/types/DeviceState.hpp"
#include "sensorring/platform/SensorringExport.hpp"
 
namespace eduart {
 
namespace sensorring {
 
namespace device {

class SENSORRING_EXPORT Sensor : public Device {
public:
  Sensor(DeviceID id, com::ComInterface* interface, com::ComEndpoint target);
 
  ~Sensor() override;
 
  // -- state / measurement synchronisation --
  std::future<bool> measure(std::uint8_t sequence_number);
  std::future<bool> fetch();

  std::future<bool> beginMeasurementWait();

  void setMeasurementReady(bool success);

  std::future<bool> beginDataAvailableWait();

  void setDataAvailableReady(bool success);

  void resetSensorState();

  void clearDataFlag();
 
protected:
  virtual bool sendMeasurementRequest(std::uint8_t sequence_number) = 0;
  virtual bool sendMeasurementTransmissionRequest()                 = 0;
 
  virtual void onResetSensorState() {}
  virtual void onClearDataFlag() {}
 
  DeviceState _state;
  mutable std::mutex _state_mutex;
 
  std::mutex _promise_mutex;
  std::optional<std::promise<bool> > _data_available_promise;
  std::optional<std::promise<bool> > _measurement_promise;
};
 
} // namespace device
 
} // namespace sensorring
 
} // namespace eduart