sensor_impl.hpp

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#ifndef SENSOR_IMPL_HPP
#define SENSOR_IMPL_HPP

#include <string>
#include <list>
#include <map>
#include <memory>
#include <chrono>
#include <mutex>

#include "../../../util/error/kallisto_error.hpp"
#include "sensor.hpp"
#include "sensor_event_listener.hpp"
#include "../../../util/executor/executor.hpp"
#include "../../../bluetooth/device/bluetooth_dispatcher.hpp"
#include "../synchronization/time_synchronizer.hpp"

namespace kallisto {
namespace hardware {

typedef std::function<void(SensorEvent& event)> InternalSensorEventListener;

class SensorImpl : public Sensor {
private:
    util::Executor& m_event_dispatcher; //Executor used to dispatch sensor events to clients
    std::list<SensorEventListener*> m_listeners; //Holds the sensor listeners.
    std::mutex m_listener_list_mutex; //Used for concurrent access to the listener list.
    std::map<std::string, const void*> m_parameters;
    void handleSensorEvent(SensorEvent& event);

protected:
    bool m_link_loss = false; //Signals if this sensor is in link loss.
    bluetooth::BluetoothDispatcher& m_bluetooth_dispatcher; //Interface to dispatch BLE operations
    TimeSynchronizer* m_sensor_synchronizer; //Used to sync sensor timestamps

    virtual error::KallistoDetailedResult start(std::map<std::string, const void*> parameters, InternalSensorEventListener internal_listener) = 0;

    virtual error::KallistoDetailedResult update(std::map<std::string, const void*> parameters) = 0;

    virtual std::map<std::string, const void*> getParameters() = 0;

    virtual error::KallistoDetailedResult stop(bool link_loss) = 0;


    SensorImpl(std::string name, std::string address, std::string vendor, unsigned int version, SensorType type, std::string string_type,
               ReportingMode reporting_mode, unsigned int identifier, float max_range, float resolution, float power, std::chrono::microseconds min_delay,
               std::chrono::microseconds max_delay, util::Executor& event_dispatcher, bluetooth::BluetoothDispatcher& bluetooth_dispatcher, TimeSynchronizer* sensor_synchronizer);

public:
    virtual ~SensorImpl();

    SensorImpl(SensorImpl const&) = delete;
    SensorImpl(SensorImpl&&) = delete;
    void operator=(SensorImpl const&) = delete;
    void operator=(SensorImpl &&) = delete;

    error::KallistoDetailedResult registerListener(std::map<std::string, const void*> parameters, SensorEventListener& listener);

    error::KallistoDetailedResult unregisterListener(SensorEventListener& listener);

    bool getEnabled();

    void onLinkLoss();

    error::KallistoDetailedResult onLinkRecovered();

    static unsigned int generateHandle();

    /***************************************************************************************
     *  Parameter keys
     ***************************************************************************************/
    static const std::string& KEY_DELAY();

    /***************************************************************************************
     *  Helper functions
     ***************************************************************************************/
    static unsigned char getTypeFromManufacturerData(unsigned char byte);

    static unsigned char getIdFromManufacturerData(unsigned char byte);

};

} /* namespace hardware */
} /* namespace kallisto */

#endif // SENSOR_IMPL_HPP