VL53L8CX_Device.hpp

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// Copyright (c) 2026 EduArt Robotik GmbH

 
#pragma once
 
#include <chrono>
#include <future>
#include <memory>
#include <vector>
 
#include "sensorring/device/BaseDevice.hpp"
#include "sensorring/device/hardware/vl53l8cx/VL53L8CX_Params.hpp"
#include "sensorring/interface/ComInterfaceID.hpp"
#include "sensorring/math/Math.hpp"
#include "sensorring/measurement/TofMeasurement.hpp"
#include "sensorring/platform/SensorringExport.hpp"
 
namespace eduart {
 
namespace device {
 
class VL53L8CX_DeviceImpl;

class SENSORRING_EXPORT VL53L8CX_Device : public BaseDevice {
public:
  VL53L8CX_Device(VL53L8CX_Params params, com::ComInterfaceID interface, unsigned int idx);
  ~VL53L8CX_Device();

  const VL53L8CX_Params& getParams() const;

  std::pair<const measurement::TofMeasurement&, DeviceState> getLatestMeasurement() const;
  std::pair<const measurement::TofMeasurement&, DeviceState> getLatestTransformedMeasurement() const;
 
  // std::future<bool> requestTofMeasurementAsync(std::chrono::milliseconds timeout);
  // std::future<bool> fetchTofMeasurementAsync(std::chrono::milliseconds timeout);
  static std::future<bool> requestTofMeasurementAsync(const std::vector<VL53L8CX_Device*>& devices, std::chrono::milliseconds timeout);
  static std::future<bool> fetchTofMeasurementAsync(const std::vector<VL53L8CX_Device*>& devices, std::chrono::milliseconds timeout);
 
private:
  void comCallback(const com::ComEndpoint source, const std::vector<uint8_t>& data) override;
 
  void onResetSensorState() override;
  void onClearDataFlag() override;
 
  friend class VL53L8CX_DeviceImpl;
  std::unique_ptr<VL53L8CX_DeviceImpl> _impl;
};
 
} // namespace device
 
} // namespace eduart