SensorOutput.h

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/*
Copyright 2007-2025. Algoryx Simulation AB.
 
All AGX source code, intellectual property, documentation, sample code,
tutorials, scene files and technical white papers, are copyrighted, proprietary
and confidential material of Algoryx Simulation AB. You may not download, read,
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material unless having a written signed agreement with Algoryx Simulation AB, or having been
advised so by Algoryx Simulation AB for a time limited evaluation, or having purchased a
valid commercial license from Algoryx Simulation AB.
 
Algoryx Simulation AB disclaims all responsibilities for loss or damage caused
from using this software, unless otherwise stated in written agreements with
Algoryx Simulation AB.
*/
#pragma once
#include <agxSensor/BinaryOutputView.h>
 
#include <agx/Logger.h>
 
namespace agxSensor
{
  class AGXSENSOR_EXPORT ISensorOutput
  {
    public:
      template<typename T>
      static bool verifySize( size_t elementSize );
 
    public:
      ISensorOutput() = default;
 
      virtual size_t getElementSize() const = 0;
 
      template<typename T>
      BinaryOutputView<T> view();
 
      virtual const BinaryOutputBuffer& getData() = 0;
 
      virtual bool hasUnreadData( bool markAsRead = true ) = 0;
 
      DOXYGEN_START_INTERNAL_BLOCK()
 
    public:
      virtual ~ISensorOutput() = default;
 
      DOXYGEN_END_INTERNAL_BLOCK()
  };
 
  template<typename T>
  bool ISensorOutput::verifySize( size_t elementSize )
  {
    const auto isValidSize = sizeof( T ) == elementSize;
    if ( !isValidSize ) {
      LOGGER_WARNING() << "View data type size mismatch, sizeof(" << typeid( T ).name() << ") = "
                       << sizeof( T ) << " != " << elementSize << " (elementSize)."
                       << LOGGER_ENDL();
    }
    return isValidSize;
  }
 
  template<typename T>
  BinaryOutputView<T> ISensorOutput::view()
  {
    if ( !ISensorOutput::verifySize<T>( this->getElementSize() ) )
      return {};
    return getData().view<T>();
  }
}