sensors_interface.hpp

// Copyright (C) 2024 Avular Holding B.V. - All Rights Reserved
// You may use this code under the terms of the Avular
// Software End-User License Agreement.
//
// You should have received a copy of the Avular
// Software End-User License Agreement license with
// this file, or download it from: avular.com/eula
//
/*****************************************************************************
 * Created on: 2024 July 18
 * Author: Robbert-Jan de Jager
 *
 * The interface for the sensors of the Avular Robot.
 ****************************************************************************/
#pragma once
 
#include <creos/client_global.hpp>
#include <creos/messages/barometer.hpp>
#include <creos/messages/controller_state.hpp>
#include <creos/messages/gnss.hpp>
#include <creos/messages/imu.hpp>
#include <creos/messages/interface_info.hpp>
#include <creos/messages/magnetic_field.hpp>
#include <creos/messages/odometry.hpp>
#include <creos/messages/point_cloud2.hpp>
#include <creos/messages/pose.hpp>
#include <creos/messages/range.hpp>
#include <creos/messages/wheel_state.hpp>
#include <creos/subscription.hpp>
 
namespace creos {
 
class CREOS_CLIENT_API ISensorsInterface {
public:
    static constexpr char name[] = "sensors";
    static constexpr unsigned version = 1;
 
    virtual ~ISensorsInterface() = default;
 
    virtual SubscriptionId subscribeTo3dLidar(
        const creos_messages::Lidar3dId lidar_id,
        const std::function<void(const creos_messages::PointCloud2&)>& callback) = 0;
 
    virtual SubscriptionId subscribeToOdometry(
        const std::function<void(const creos_messages::Odometry&)>& callback) = 0;
 
    virtual SubscriptionId subscribeToPose(
        const std::function<void(const creos_messages::PoseWithCovarianceStamped&)>& callback) = 0;
 
    virtual SubscriptionId subscribeToGnss(const std::function<void(const creos_messages::Gnss&)>& callback) = 0;
 
    virtual SubscriptionId subscribeToRemoteController(
        const std::function<void(const creos_messages::ControllerState&)>& callback) = 0;
 
    virtual SubscriptionId subscribeToWheelState(
        const std::function<void(const creos_messages::WheelStates&)>& callback) = 0;
 
    virtual SubscriptionId subscribeToMagneticField(
        creos_messages::MagneticFieldId magnetic_field_id,
        const std::function<void(const creos_messages::MagneticField&)>& callback) = 0;
 
    virtual SubscriptionId subscribeToBarometer(
        const std::function<void(const creos_messages::Barometer&)>& callback) = 0;
 
    virtual SubscriptionId subscribeToRangeSensor(
        creos_messages::RangeSensorId range_sensor_id,
        const std::function<void(const creos_messages::Range&)>& callback) = 0;
 
    virtual SubscriptionId subscribeToImu(const creos_messages::ImuId imu_id,
                                          const std::function<void(const creos_messages::Imu&)>& callback) = 0;
};
 
}  // namespace creos