19 lines
444 B
C
19 lines
444 B
C
|
#pragma once
|
||
|
|
|
||
|
|
#include "cereal/messaging/messaging.h"
|
||
|
|
|
||
|
|
class Sensor {
|
||
|
|
public:
|
||
|
|
int gpio_fd = -1;
|
||
|
|
uint64_t init_delay = 500e6; // default dealy 500ms
|
||
|
|
virtual ~Sensor() {};
|
||
|
|
virtual int init() = 0;
|
||
|
|
virtual bool get_event(MessageBuilder &msg, uint64_t ts = 0) = 0;
|
||
|
|
virtual bool has_interrupt_enabled() = 0;
|
||
|
|
virtual int shutdown() = 0;
|
||
|
|
|
||
|
|
virtual bool is_data_valid(uint64_t st, uint64_t ct) {
|
||
|
|
return (ct - st) > init_delay;
|
||
|
|
}
|
||
|
|
};
|