dji_motor.hpp

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#pragma once
#include "wrap/trap/drivers.hpp"
#include "wrap/trap/motor/dji_motor_aliases.hpp"
#include "wrap/trap/algorithms/wrapped_radians.hpp"
#include "wrap/units/units_alias.hpp"
#include "wrap/rail/telemetry/iangular_position_telemetry.hpp"
#include "wrap/rail/telemetry/iangular_velocity_telemetry.hpp"
 
#include "tap/communication/can/can_bus.hpp"
#include "tap/motor/dji_motor.hpp"
#include "tap/util_macros.hpp"
 
#include <limits>
 
namespace trap::motor
{
    class DjiMotor
        :
        public IDjiOutputMotor,
        public fang::telemetry::IAngularPosition,
        public fang::telemetry::IAngularVelocity 
    {
    public:
        struct Config
        {
            tap::motor::MotorId motorId;
            tap::can::CanBus canBus;
            const char* name;
            bool inverted;
            bool currentControl = true;
            double externalEncoderGearRatio = 1.0;
        };
 
 
        DjiMotor(Drivers& drivers, const Config& config);
 
        DjiMotor(Drivers& drivers, tap::motor::MotorId motorId, tap::can::CanBus canBus,
                 const char* name, bool inverted, double externalEncoderGearRatio, bool currentControl);
 
        mockable ~DjiMotor() {};
 
        void initialize() override;
 
        void update() override;
 
        Radians getAngularPosition() const override;
 
        RPM getAngularVelocity() const override;
 
        void setTargetOutput(const DjiMotorOutput& output) override;
 
        bool isMotorOnline() const;
 
        Celsius getTemperature() const;
 
        tap::can::CanBus getCanBus() const;
 
        const char* getName() const;
 
    static constexpr DjiMotorOutput kMaxOutput{std::numeric_limits<DjiMotorOutput>::max()};
    private:
        tap::motor::DjiMotor djiMotor_;
    };
}