robot.h

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#pragma once
 
#include <string>
#include <vector>
#include <optional>
#include <memory>
 
#include "core/async.hpp"
#include "ctrl/control_mapping.hpp"
#include "ctrl/motion_control.h"
#include "ctrl/shoot.h"
#include "device/chassis/base.hpp"
#include "device/controlpad.h"
#include "device/gimbal/base.hpp"
#include "device/motor/base.hpp"
#include "utils/singleton.hpp"
#include "utils/utils.hpp"
 
namespace roboctrl::ctrl{
 
enum class robot_state{
    NoForce,
    FinishInit,
    FollowGimbal,
    Search,
    Idle,
    NotFollow
};
 
class robot : public utils::singleton_base<robot>,public logable<robot>{
public:
    robot() = default;
    struct info_type{
        using owner_type = robot;
        device::gimbal_base::info_type gimbal_info;
        device::chassis_base::info_type chassis_info;
        shoot::info_type shoot_info;
        std::optional<device::gimbal_base::info_type> secondary_gimbal_info;
        std::optional<device::gimbal_base::info_type> large_yaw_info;
        std::optional<shoot::info_type> secondary_shoot_info;
        motion_control::info_type motion_info;
        std::string chassis_type {"ctrl.standard_mecanum_chassis.v1"};
        std::string gimbal_type {"ctrl.standard_imu_2axis_gimbal.v1"};
        std::string control_pad_key {"control_pad"};
        bool enable_chassis {true};
        bool enable_gimbal {false};
        bool enable_shoot {false};
    };
 
    bool init(const info_type& info);
    std::string desc()const{return "robot";}
 
    roboctrl::awaitable<void> task();
    device::chassis_base* chassis() noexcept { return chassis_; }
    const device::chassis_base* chassis() const noexcept { return chassis_; }
 
    device::gimbal_base* gimbal() noexcept { return gimbal_; }
    const device::gimbal_base* gimbal() const noexcept { return gimbal_; }
 
    device::gimbal_base* secondary_gimbal() noexcept { return secondary_gimbal_; }
    device::gimbal_base* large_yaw() noexcept { return large_yaw_; }
    shoot* secondary_shoot() noexcept { return secondary_shoot_.get(); }
    bool gimbals_initialized() const;
    bool gimbals_online() const;
 
    robot_state state()const{return state_;}
    void set_state(robot_state state);
private:
    robot_state state_ {robot_state::NoForce};
    std::string control_pad_key_;
    bool enable_chassis_ {false};
    bool enable_gimbal_ {false};
    bool enable_shoot_ {false};
    device::chassis_base* chassis_ {nullptr};
    device::gimbal_base* gimbal_ {nullptr};
    device::gimbal_base* secondary_gimbal_ {nullptr};
    device::gimbal_base* large_yaw_ {nullptr};
    std::unique_ptr<shoot> secondary_shoot_;
    std::vector<device::motor_base*> controlled_motors_;
};
 
static_assert(utils::singleton<robot>);
}