mqtt_ultrasound_backend.h

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#ifndef MQTT_ULTRASOUND_BACKEND_H
#define MQTT_ULTRASOUND_BACKEND_H
 
#include "bitrl/bitrl_config.h"
 
#ifdef BITRL_MQTT
 
#include "bitrl/bitrl_types.h"
#include "bitrl/network/mqtt_subscriber.h"
#include "bitrl/sensors/backends/range_sensor_backend_base.h"
#include "bitrl/sensors/messages/ultrasound.h"
 
namespace bitrl{
namespace sensors::backends
{
 
class MQTT_UltrasonicBackend: public RangeSensorBackendBase
{
public:
 
    static const  std::string BACKEND_TYPE;
 
    explicit MQTT_UltrasonicBackend(network::MqttSubscriber& subscriber);
 
    void load_from_json(const std::string& filename);
 
    std::vector<real_t> read_values();
 
    void set_position(const RealColVec3d& pos){position_ = pos;}
 
    const RealColVec3d& position() const{return position_;}
 
    const UltrasoundMessage& last_value_read()const{return last_message_;}
 
private:
 
    network::MqttSubscriber* subscriber_ptr_;
 
    RealColVec3d position_;
 
    UltrasoundMessage last_message_;
 
    uint_t polling_time_milli{3000};
 
};
 
}
}
#endif
#endif //MQTT_ULTRASOUND_BACKEND_H