Program Listing for File diff_drive.hpp

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#pragma once

/*******************************************************************************
 * Includes
 ******************************************************************************/
#include "rcppsw/er/client.hpp"

#include "cosm/cosm.hpp"
#include "cosm/hal/actuators/diff_drive_actuator.hpp"
#include "cosm/kin2D/config/diff_drive_config.hpp"
#include "cosm/kin2D/diff_drive_fsm.hpp"

/*******************************************************************************
 * Namespaces/Decls
 ******************************************************************************/
namespace cosm::kin2D {

/*******************************************************************************
 * Struct Definitions
 ******************************************************************************/
class diff_drive : public rer::client<diff_drive> {
 public:
  diff_drive(const config::diff_drive_config* config,
             chactuators::diff_drive_actuator&& actuator);

  /* move only constructible/assignable to work with the saa subsystem */
  diff_drive(diff_drive&&) = default;
  diff_drive& operator=(diff_drive&&) = default;

  /*
   * \brief Updates the configured twist via an FSM and sends twist to the
   * actual diff drive actuator for translation into wheel speeds.
   */
  void fsm_drive(const ckin::twist& delta);

  double max_linear_speed(void) const { return m_config.max_linear_speed; }

  double max_angular_speed(void) const { return m_config.max_angular_speed; }

 private:
  /* clang-format off */
  config::diff_drive_config           m_config;

  diff_drive_fsm                      m_fsm;
  hal::actuators::diff_drive_actuator m_actuator;
  /* clang-format on */

 public:
  RCPPSW_WRAP_DECLDEF(reset, m_actuator);
  RCPPSW_WRAP_DECLDEF(disable, m_actuator);
  RCPPSW_WRAP_DECLDEF(enable, m_actuator);
};

} /* namespace cosm::kin2D */