SensorManager.h

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/* Copyright (c) 2020 Skyward Experimental Rocketry
 * Author: Luca Conterio
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in
 * all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 * THE SOFTWARE.
 */
 
#pragma once
 
#include <diagnostic/PrintLogger.h>
#include <scheduler/TaskScheduler.h>
 
#include <map>
 
#include "SensorInfo.h"
#include "SensorSampler.h"
 
namespace Boardcore
{
 
class SensorManager
{
public:
    using function_t  = std::function<void()>;
    using SensorMap_t = std::map<AbstractSensor*, SensorInfo>;
 
    explicit SensorManager(const SensorMap_t& sensorsMap);
 
    SensorManager(const SensorMap_t& sensorsMap, TaskScheduler* scheduler);
 
    ~SensorManager();
 
    bool start();
 
    void stop();
 
    void enableSensor(AbstractSensor* sensor);
 
    void disableSensor(AbstractSensor* sensor);
 
    void enableAllSensors();
 
    void disableAllSensors();
 
    bool areAllSensorsInitialized();
 
    const SensorInfo getSensorInfo(AbstractSensor* sensor);
 
    const vector<TaskStatsResult> getSamplersStats();
 
private:
    SensorManager(const SensorManager&)            = delete;
    SensorManager& operator=(const SensorManager&) = delete;
 
    bool init(const SensorMap_t& sensorsMap);
 
    bool initSensor(AbstractSensor* sensor);
 
    void initScheduler();
 
    uint8_t getFirstTaskID();
 
    SensorSampler* createSampler(uint8_t id, std::chrono::nanoseconds period);
 
    const uint8_t MAX_TASK_ID = 255;  
 
    TaskScheduler*
        scheduler;         
    bool customScheduler;  
 
    std::vector<SensorSampler*>
        samplers;  
 
    std::map<AbstractSensor*, SensorSampler*>
        samplersMap;  
 
    bool initResult = true;  
 
    PrintLogger logger = Logging::getLogger("sensormanager");
};
 
}  // namespace Boardcore