SensorSampler.h

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/* Copyright (c) 2017-2020 Skyward Experimental Rocketry
 * Authors: Alain Carlucci, 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 <chrono>
 
#include "Sensor.h"
#include "SensorInfo.h"
 
namespace Boardcore
{
 
class SensorSampler
{
public:
    SensorSampler(uint8_t id, std::chrono::nanoseconds period);
 
    virtual ~SensorSampler();
 
    bool operator==(const SensorSampler& sampler) const
    {
        return id == sampler.id && period == sampler.period &&
               sensors.size() == sampler.sensors.size();
    }
 
    static bool compareByPeriod(SensorSampler* left, SensorSampler* right);
 
    virtual void addSensor(AbstractSensor* sensor, SensorInfo sensorInfo) = 0;
 
    void toggleSensor(AbstractSensor* sensor, bool isEnabled);
 
    void enableAllSensors();
 
    void disableAllSensors();
 
    void sampleAndCallback();
 
    uint8_t getID();
 
    std::chrono::nanoseconds getSamplingPeriod();
 
    unsigned int getNumSensors();
 
    const SensorInfo getSensorInfo(AbstractSensor* sensor);
 
private:
    virtual void sampleSensor(AbstractSensor* s) = 0;
 
    uint8_t id;  
    std::chrono::nanoseconds period;  
 
protected:
    std::vector<std::pair<AbstractSensor*, SensorInfo>> sensors;
 
    PrintLogger logger = Logging::getLogger("sensorsampler");
};
 
class SimpleSensorSampler : public virtual SensorSampler
{
public:
    SimpleSensorSampler(uint8_t id, std::chrono::nanoseconds period);
 
    ~SimpleSensorSampler();
 
    void addSensor(AbstractSensor* sensor, SensorInfo sensorInfo) override;
 
    void sampleSensor(AbstractSensor* s) override;
 
private:
    SimpleSensorSampler(const SimpleSensorSampler&) = delete;
};
 
}  // namespace Boardcore