analog_sensor.hpp

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#pragma once

#include <memory>
#include <string>

#include "real_time_tools/timer.hpp"

#include "real_time_tools/threadsafe/threadsafe_timeseries.hpp"
#include "blmc_drivers/devices/device_interface.hpp"
#include "blmc_drivers/devices/motor_board.hpp"


namespace blmc_drivers
{

class AnalogSensorInterface: public DeviceInterface
{
public:
    typedef real_time_tools::ThreadsafeTimeseries<double> ScalarTimeseries;


    virtual std::shared_ptr<const ScalarTimeseries> get_measurement() const = 0;

    virtual ~AnalogSensorInterface() {}
};

class AnalogSensor: public AnalogSensorInterface
{
public:
  
  AnalogSensor(std::shared_ptr<MotorBoardInterface> board, bool sensor_id);

  virtual std::shared_ptr<const ScalarTimeseries> get_measurement() const;

private:

  std::shared_ptr<MotorBoardInterface> board_;

  size_t sensor_id_;
};

}