time_adjust_synchronizer.hpp

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#ifndef TIME_ADJUST_SYNCHRONIZER_HPP_
#define TIME_ADJUST_SYNCHRONIZER_HPP_

#include <list>
#include <chrono>
#include <limits>
#include <mutex>

#include "time_synchronizer.hpp"
#include "../sensors/sensor.hpp"

namespace kallisto {
namespace hardware {

class TimeAjustSynchronizer : public TimeSynchronizer {

private:
    class SensorSyncContainer {
    private:
        unsigned int m_sensor_handle; //Sensor handle.
        std::chrono::nanoseconds m_timestamp_reference = std::chrono::nanoseconds(std::numeric_limits<long>::max());    //Sensor reference
        std::chrono::nanoseconds m_latest_timestamp = std::chrono::nanoseconds(std::numeric_limits<long>::max());       //Latest sensor raw timestamp
        std::chrono::nanoseconds m_real_latest_timestamp = std::chrono::nanoseconds(std::numeric_limits<long>::max());  //The host timestamp from latest sensor sample

    public:
        SensorSyncContainer(unsigned int sensor_handle) {
            m_sensor_handle = sensor_handle;
        }

        unsigned int getSensorHandle() {
            return m_sensor_handle;
        }

        std::chrono::nanoseconds getTimestampReference() {
            return m_timestamp_reference;
        }

        void setTimestampReference(std::chrono::nanoseconds timestamp_reference) {
            m_timestamp_reference = timestamp_reference;
        }

        std::chrono::nanoseconds getLatestTimestamp() {
            return m_latest_timestamp;
        }

        void setLatestTimestamp(std::chrono::nanoseconds latest_timestamp) {
            m_latest_timestamp = latest_timestamp;
        }

        std::chrono::nanoseconds getRealLatestTimestamp() {
            return m_real_latest_timestamp;
        }

        void setRealTimestamp() {
            m_real_latest_timestamp = std::chrono::duration_cast<std::chrono::nanoseconds>(std::chrono::system_clock::now().time_since_epoch());
        }
    };

    //The timeout to remove sensor container.
    static const std::chrono::nanoseconds SENSOR_TIMEOUT_MILLIS;

    //Maximum timestamp value reported by the sensor.
    static const std::chrono::nanoseconds SENSOR_MAX_RAW_TIMESTAMP;

    //Our list to save sensor sync data
    std::list<SensorSyncContainer> m_sensor_containers;

    //Used to sync the object
    std::mutex m_mutex;

    ~TimeAjustSynchronizer();

    void cleanSensorContainers();

    std::chrono::nanoseconds calculateSensorReference(std::chrono::nanoseconds raw_sensor_timestamp);

    std::chrono::nanoseconds syncSensorTimestamp(SensorSyncContainer& sensor_container, std::chrono::nanoseconds raw_sensor_timestamp);

    error::KallistoDetailedResult sync();

public:
    TimeAjustSynchronizer(bluetooth::BluetoothDispatcher& dispatcher);

    error::KallistoDetailedResult syncSensorEvent(Sensor& sensor, SensorEvent& event);
};

} /* namespace bluetooth */
} /* namespace kallisto */

#endif /* TIME_ADJUST_SYNCHRONIZER_HPP_ */