File sample_hw_interface.hpp

// Copyright 2025 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_SAMPLE_HW_INTERFACE_HPP
#define NEBULA_SAMPLE_HW_INTERFACE_HPP

#include <nebula_core_common/util/expected.hpp>
#include <nebula_core_hw_interfaces/connections/udp.hpp>
#include <nebula_sample_common/sample_configuration.hpp>

#include <cstdint>
#include <memory>
#include <mutex>
#include <optional>
#include <string>
#include <variant>

namespace nebula::drivers
{

class SampleHwInterface
{
public:
  struct Error
  {
    enum class Code : uint8_t {
      CALLBACK_NOT_REGISTERED,  
      INVALID_CALLBACK,         
      INVALID_OPERATION,        
      SOCKET_OPEN_FAILED,       
      SOCKET_CLOSE_FAILED,      
    };

    Code code;
    std::string message;
  };

  static const char * to_cstr(Error::Code code);

  explicit SampleHwInterface(ConnectionConfiguration connection_configuration);

  util::expected<std::monostate, Error> sensor_interface_start();

  util::expected<std::monostate, Error> sensor_interface_stop();

  util::expected<std::monostate, Error> register_scan_callback(
    connections::UdpSocket::callback_t scan_callback);

private:
  ConnectionConfiguration connection_configuration_;
  std::optional<connections::UdpSocket> udp_socket_;
  std::shared_ptr<connections::UdpSocket::callback_t> packet_callback_;
  std::mutex callback_mutex_;
};

}  // namespace nebula::drivers

#endif  // NEBULA_SAMPLE_HW_INTERFACE_HPP