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/**
 * Base class for defining the interface for simulaton of a sensor
 * @author Kamil Ritz <ka.ritz@hotmail.com>
 */

#ifndef EKF_SENSOR_H
#define EKF_SENSOR_H

#include "EKF/ekf.h"
#include <math.h>
#include <memory>

namespace sensor_simulator
{

class Sensor
{
public:

	Sensor(std::shared_ptr<Ekf> ekf);
	virtual ~Sensor();

	void update(uint64_t time);

	void setRateHz(uint32_t rate) { _update_period = uint32_t(1000000) / rate; }

	bool isRunning() const { return _is_running; }

	void start() { _is_running = true; }

	void stop() { _is_running = false; }

	bool should_send(uint64_t time) const;

protected:

	std::shared_ptr<Ekf> _ekf;
	// time in microseconds
	uint32_t _update_period;
	uint64_t _time_last_data_sent{0};

	bool _is_running{false};

	// Checks that the right amount time passed since last send data to fulfill rate
	bool is_time_to_send(uint64_t time) const;

	// call set*Data function of Ekf
	virtual void send(uint64_t time) = 0;

};

} // namespace sensor_simulator
#endif // !EKF_SENSOR_H
