text: /****************************************************************************
   *
   *   Copyright (c) 2019 ECL Development Team. All rights reserved.
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   *    notice, this list of conditions and the following disclaimer.
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  /**
   * Base class for defining the interface for simulaton of a sensor
   * @author Kamil Ritz <ka.ritz@hotmail.com>
   */
  
  #pragma once
  
  #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(uint32_t time);
  
  	void setRate(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; }
  
  protected:
  
  	std::shared_ptr<Ekf> _ekf;
  	// time in microseconds
  	uint32_t _update_period;
  	uint32_t _time_last_data_sent{0};
  
  	bool _is_running{false};
  
  	bool should_send(uint32_t time) const;
  
  	// Checks that the right amount time passed since last send data to fulfill rate
  	bool is_time_to_send(uint32_t time) const;
  
  	// call set*Data function of Ekf
  	virtual void send(uint32_t time) = 0;
  
  };
  
  } // namespace sensor_simulator
  