shoot.h

#pragma once
#include "utils/ramp.hpp"
#include "utils/singleton.hpp"
#include "core/async.hpp"
#include "core/logger.h"
 
namespace roboctrl::ctrl{
 
class shoot : public utils::singleton_base<shoot>,public logable<shoot> {
public:
    shoot() = default;
    struct info_type{
        using owner_type = shoot;
 
        utils::ramp_f::params_type friction_params;
        float friction_max_speed;
    };
 
    inline std::string desc()const{return "shoot";}
 
    roboctrl::awaitable<void> task();
 
    bool init(const info_type& info);
 
    void set_firing(bool state);
    inline bool firing()const{return firing_;}
 
private:
    info_type info_;
    utils::ramp_f friction_ramp_;
 
    bool firing_;
 
};
 
static_assert(utils::singleton<shoot>);
}