Platform.hpp

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//
// Hardware health-check API.
//
// Concrete implementations live in the selected platform bundle (wombat or
// mock). Higher-level code calls `Platform::probe()` once at startup to
// confirm that required sub-systems (STM32 bridge, IMU, motors) are reachable
// and producing data before any mission runs.
//
#pragma once
 
#include <cstdint>
#include <memory>
#include <stdexcept>
#include <string>
#include <vector>
 
namespace libstp::kinematics { struct IKinematics; }
namespace libstp::odometry { struct IOdometry; }
 
namespace libstp::hal::platform
{
    enum class Component : uint8_t
    {
        Stm32Bridge,
        Imu,
        Motors,
    };

    const char* toString(Component component);

    struct ComponentStatus
    {
        Component component;
        bool ok;
        std::string detail;
    };

    struct ProbeResult
    {
        bool ok{false};
        std::vector<ComponentStatus> components{};

        [[nodiscard]] std::vector<ComponentStatus> failedComponents() const;

        [[nodiscard]] std::string summary() const;
    };

    struct ProbeOptions
    {
        int stm32_timeout_ms{1500};
        int imu_timeout_ms{1500};
        int motor_timeout_ms{500};
 
        bool require_stm32{true};
        bool require_imu{true};
        // Off by default: the BEMF channel is published by stm32-data-reader
        // continuously, but on a freshly powered board the first publish can
        // take longer than the IMU heading. Treat motor telemetry as a soft
        // signal unless the caller explicitly opts in.
        bool require_motors{false};
    };

    class ProbeFailedError : public std::runtime_error
    {
    public:
        explicit ProbeFailedError(ProbeResult result);
        [[nodiscard]] const ProbeResult& result() const noexcept { return result_; }
 
    private:
        ProbeResult result_;
    };

    class Platform
    {
    public:
        static ProbeResult probe(const ProbeOptions& options = {});

        static void requireHealthy(const ProbeOptions& options = {});

        static void setMockProbeFailure(Component component, bool fail);

        static void clearMockProbeFailures();

        static std::shared_ptr<libstp::odometry::IOdometry> createOdometry(
            std::shared_ptr<libstp::kinematics::IKinematics> kinematics);

        static bool commandChassisVelocity(float vx, float vy, float wz);
    };
}