WS2812b_Device.hpp

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// Copyright (c) 2026 EduArt Robotik GmbH

 
#pragma once
 
#include <atomic>
#include <chrono>
#include <mutex>
 
#include "sensorring/device/light/Light.hpp"
#include "sensorring/device/light/LightMode.hpp"
#include "sensorring/device/light/ws2812b/WS2812b_Params.hpp"
#include "sensorring/interface/ComInterfaceID.hpp"
#include "sensorring/platform/SensorringExport.hpp"
 
namespace eduart {
 
namespace sensorring {
 
namespace device {

class SENSORRING_EXPORT WS2812b_Device : public Light {
public:
  WS2812b_Device(WS2812b_Params params, com::ComInterfaceID interface, unsigned int idx);
 
  ~WS2812b_Device() = default;

  bool configure() override;

  bool setDistanceMapRange(double lower_m, double upper_m);

  bool getDistanceMapRange(double& lower_m, double& upper_m);

  bool setDistanceMapMaxBrightness(std::int64_t brightness);

  bool getDistanceMapMaxBrightness(std::int64_t& brightness);

  const WS2812b_Params& getParams() const override { return _params; }
 
  // --- Light interface overrides ---

  void setLight(LightMode mode, std::uint8_t r, std::uint8_t g, std::uint8_t b) override;

  static void syncLight();
 
protected:
  WS2812b_Device(WS2812b_Params params, com::ComInterface* interface, unsigned int idx);
 
private:
  void comCallback(const com::ComEndpoint source, std::uint8_t command, const std::vector<uint8_t>& data) override;
 
  bool requestParameter(std::uint8_t command, std::vector<uint8_t>& data);
 
  static constexpr std::chrono::milliseconds GET_PARAMETER_SLEEP   = std::chrono::milliseconds(10);
  static constexpr std::chrono::milliseconds GET_PARAMETER_TIMEOUT = std::chrono::milliseconds(100);
 
  std::mutex _parameter_mutex;
  std::mutex _state_mutex;
  std::atomic<bool> _got_update   = false;
  std::uint8_t _pending_parameter = 0;
  std::vector<uint8_t> _parameter_data;
 
  WS2812b_Params _params;
 
  struct Setting {
    LightMode mode     = LightMode::Off;
    std::uint8_t red   = 0;
    std::uint8_t green = 0;
    std::uint8_t blue  = 0;
  } _last_setting;
};
 
} // namespace device
 
} // namespace sensorring
 
} // namespace eduart