device_base.h

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#ifndef FASTCAT_DEVICE_BASE_H_
#define FASTCAT_DEVICE_BASE_H_
 
// Include related header (for cc files)
 
// Include c then c++ libraries
#include <memory>
#include <queue>
#include <string>
 
// Include external then project includes
#include <yaml-cpp/yaml.h>
 
#include "fastcat/types.h"
#include "fastcat/thread_safe_queue.h"
 
namespace fastcat
{
class DeviceBase
{
 public:
  virtual ~DeviceBase();
  // Pure virtual methods
  virtual bool ConfigFromYaml(const YAML::Node& node) = 0;
  virtual bool Read()                                 = 0;
 
  // Non-pure virtual methods with default implementation
  virtual FaultType Process();
  virtual bool      Write(DeviceCmd& cmd);
  virtual void      Fault();
  virtual void      Reset();
  virtual void SetInitializationTime(double time_sec, double monotonic_time_sec)
  {
    initialization_time_sec_           = time_sec;
    monotonic_initialization_time_sec_ = monotonic_time_sec;
  }
 
  // non-virtual methods
  void RegisterCmdQueue(std::shared_ptr<ThreadSafeQueue<DeviceCmd>> cmd_queue);
  std::string                  GetName();
  std::shared_ptr<DeviceState> GetState();
 
  void SetTime(double time, double monotonic_time);
  void SetLoopPeriod(double loop_period);
 
  std::vector<Signal> signals_;
 
 protected:
  std::string name_;  
 
  double last_monotonic_time_               = 0.0;
  double loop_period_                       = 0.0;  
  double initialization_time_sec_           = -1;   
  double monotonic_initialization_time_sec_ = -1;   
 
  bool device_fault_active_ = false;
 
  std::shared_ptr<DeviceState> state_;  
 
  std::shared_ptr<ThreadSafeQueue<DeviceCmd>> cmd_queue_;
};
 
}  // namespace fastcat
 
#endif