DriveBoard.h

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#ifndef DRIVEBOARD_H
#define DRIVEBOARD_H
 
#include "../algorithms/kinematics/DifferentialDrive.hpp"
 
#include <RoveComm/RoveComm.h>
#include <RoveComm/RoveCommManifest.h>
#include <array>
#include <shared_mutex>
 
 
 
class DriveBoard
{
    private:
        // Declare private member variables.
 
        diffdrive::DrivePowers m_stDrivePowers;                // Struct used to store the left and right drive powers of the robot.
        std::unique_ptr<controllers::PIDController> m_pPID;    // The PID controller used for drive towards a heading.
        float m_fMinDriveEffort;                               // The min power limit of the drive. This can be adjusted through RoveComm.
        float m_fMaxDriveEffort;                               // The max power limit of the drive. This can be adjusted through RoveComm.
        std::shared_mutex m_muDriveEffortMutex;                // Mutex used for changing the drive efforts.
 
        // Declare private methods.
 
 
        const std::function<void(const rovecomm::RoveCommPacket<float>&, const sockaddr_in&)> SetMaxSpeedCallback =
            [this](const rovecomm::RoveCommPacket<float>& stPacket, const sockaddr_in& stdAddr)
        {
            // Not using this.
            (void) stdAddr;
 
            // Call class method to update max speed.
            this->SetMaxDriveEffort(stPacket.vData[0]);
 
            // Submit logger message.
            LOG_INFO(logging::g_qSharedLogger, "Incoming SETMAXSPEED: {}", stPacket.vData[0]);
        };
 
    public:
        // Declare public enums that are specific to and used within this class.
 
        // Declare public methods and member variables.
 
        DriveBoard();
        ~DriveBoard();
        diffdrive::DrivePowers CalculateMove(const double dGoalSpeed,
                                             const double dGoalHeading,
                                             const double dActualHeading,
                                             const diffdrive::DifferentialControlMethod eKinematicsMethod = diffdrive::DifferentialControlMethod::eArcadeDrive,
                                             const bool bAlwaysProgressForward                            = false);
        void SendDrive(const diffdrive::DrivePowers& stDrivePowers);
        void SendStop();
 
        // Setters
        void SetMaxDriveEffort(const float fMaxDriveEffortMultiplier);
 
        // Getters
 
        diffdrive::DrivePowers GetDrivePowers() const;
};
#endif