TMF8829_Device.hpp

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// Copyright (c) 2026 EduArt Robotik GmbH

 
#pragma once
 
#include <memory>
#include <vector>
 
#include "sensorring/device/depth/DepthSensor.hpp"
#include "sensorring/device/depth/tmf8829/TMF8829_Params.hpp"
#include "sensorring/interface/ComInterfaceID.hpp"
#include "sensorring/math/Math.hpp"
#include "sensorring/measurement/DepthMeasurement.hpp"
#include "sensorring/platform/SensorringExport.hpp"
 
namespace eduart {
 
namespace sensorring {
 
namespace device {
 
class TMF8829_DeviceImpl;

class SENSORRING_EXPORT TMF8829_Device : public DepthSensor {
public:
  TMF8829_Device(TMF8829_Params params, com::ComInterfaceID interface, unsigned int idx);

  ~TMF8829_Device();

  const TMF8829_Params& getParams() const override;

  bool setResolutionMode(ResolutionMode mode);

  bool getResolutionMode(ResolutionMode& mode);

  bool setIterationsSetting(std::uint16_t k_iterations);

  bool getIterationsSetting(std::uint16_t& k_iterations);

  bool setResultFormat(TMF8829_ResultFormat format);

  bool getResultFormat(TMF8829_ResultFormat& format);

  bool setResultFullNoise(bool full_noise);

  bool getResultFullNoise(bool& full_noise);

  bool setResultXtalk(bool xtalk);

  bool getResultXtalk(bool& xtalk);

  bool setResultNoiseStrength(bool noise_strength);

  bool getResultNoiseStrength(bool& noise_strength);

  bool setResultSignalStrength(bool signal_strength);

  bool getResultSignalStrength(bool& signal_strength);

  bool setResultNrOfPeaks(std::uint8_t nr_of_peaks);

  bool getResultNrOfPeaks(std::uint8_t& nr_of_peaks);

  bool configure() override;
 
protected:
  bool sendMeasurementRequest(std::uint8_t sequence_number) override;
  bool sendMeasurementTransmissionRequest() override;
 
private:
  void comCallback(const com::ComEndpoint source, std::uint8_t command, const std::vector<uint8_t>& data) override;
 
  friend class TMF8829_DeviceImpl;
  std::unique_ptr<TMF8829_DeviceImpl> _impl;
};
 
} // namespace device
 
} // namespace sensorring
 
} // namespace eduart