sensor.hpp

// Copyright 2022 Jacob Hartzer
//
// This program is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program.  If not, see <https://www.gnu.org/licenses/>.
 
#ifndef SENSORS__SENSOR_HPP_
#define SENSORS__SENSOR_HPP_
 
#include <memory>
#include <string>
 
#include "ekf/ekf.hpp"
#include "infrastructure/debug_logger.hpp"
#include "sensors/sensor_message.hpp"
 
class Sensor
{
public:
  typedef struct Parameters
  {
    std::string name {""};                
    std::string topic {""};               
    double rate{1.0};                     
    double data_log_rate {0.0};           
    std::string log_directory {""};       
    std::shared_ptr<DebugLogger> logger;  
    std::shared_ptr<EKF> ekf;             
  } Parameters;
 
  explicit Sensor(Parameters params);
 
  unsigned int GetId();
 
  std::string GetName();
 
  void Callback(SensorMessage sensor_message);
 
protected:
  double m_rate;                          
  unsigned int m_id;                      
  std::string m_name;                     
  std::shared_ptr<DebugLogger> m_logger;  
  bool m_is_initialized{false};           
 
private:
  static unsigned int m_sensor_count;     
};
 
 
bool MessageCompare(std::shared_ptr<SensorMessage> a, std::shared_ptr<SensorMessage> b);
 
#endif  // SENSORS__SENSOR_HPP_