File nebula_hw_interface_base.hpp
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// Copyright 2024 TIER IV, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef NEBULA_HW_INTERFACE_BASE_H
#define NEBULA_HW_INTERFACE_BASE_H
#include "nebula_common/nebula_common.hpp"
#include "nebula_common/nebula_status.hpp"
#include <memory>
#include <vector>
namespace nebula::drivers
{
class NebulaHwInterfaceBase
{
protected:
virtual void receive_sensor_packet_callback([[maybe_unused]] std::vector<uint8_t> & buffer) {}
// virtual Status RegisterScanCallback(
// std::function<void(std::unique_ptr<std::vector<std::vector<uint8_t>>>)> scan_callback) = 0;
public:
NebulaHwInterfaceBase(NebulaHwInterfaceBase && c) = delete;
NebulaHwInterfaceBase & operator=(NebulaHwInterfaceBase && c) = delete;
NebulaHwInterfaceBase(const NebulaHwInterfaceBase & c) = delete;
NebulaHwInterfaceBase & operator=(const NebulaHwInterfaceBase & c) = delete;
NebulaHwInterfaceBase() = default;
virtual Status sensor_interface_start() = 0;
virtual Status sensor_interface_stop() = 0;
// You may want to also implement GpsInterfaceStart() and ReceiveGpsCallback, but that is sensor
// specific.
virtual Status set_sensor_configuration(
std::shared_ptr<SensorConfigurationBase> sensor_configuration) = 0;
virtual Status get_sensor_configuration(SensorConfigurationBase & sensor_configuration) = 0;
virtual Status get_calibration_configuration(
[[maybe_unused]] CalibrationConfigurationBase & calibration_configuration)
{
return Status::NOT_IMPLEMENTED;
}
};
} // namespace nebula::drivers
#endif // NEBULA_HW_INTERFACE_BASE_H