drivers.hpp

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/*
 * Copyright (c) 2020-2021 Fang-Robotics
 *
 * This file is part of fang-mcb.
 *
 * fang-mcb is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * fang-mcb is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with fang-mcb.  If not, see <https://www.gnu.org/licenses/>.
 */
 
#ifndef DRIVERS_HPP_
#define DRIVERS_HPP_
#include "tap/drivers.hpp"
#include "communication/cool_protocol/janky_float_handler.hpp"
#include "communication/cool_serial/cool_serial_uart.hpp"
 
#include <unordered_map>
 
namespace fang
{
    class Drivers : public tap::Drivers
    {
        friend class DriversSingleton;
    
    public:
 
        communication::JankyFloatHandler jankyFloatHandler{};
        communication::CoolSerialUart coolSerialUart
        {
            *this, 
            communication::CoolSerialUart::HandlerMap
            {
                {255, std::ref(jankyFloatHandler)}
            }
        };
 
        Drivers() : tap::Drivers{} {}
    
        //prevent copying
        Drivers(const Drivers&) = delete;
        Drivers& operator=(Drivers&) = delete;
    
    public:
        void initializeIo();
        void update();
        void updateIo();
        void motorTimeoutUpdate();
    
        void kill();
    };  // class Drivers
}
 
#endif  // DRIVERS_HPP_