TransportWriter.hpp

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#pragma once
 
#include "transport_core/shared_transport.hpp"
 
#include <raccoon/Channels.h>
#include <raccoon/vector3f_t.hpp>
#include <raccoon/scalar_i8_t.hpp>
#include <raccoon/scalar_i32_t.hpp>
#include <raccoon/scalar_f_t.hpp>
#include <raccoon/orientation_matrix_t.hpp>
#include <raccoon/kinematics_config_t.hpp>
 
#include <array>
 
#include <string>
 
namespace platform::wombat::core
{
    class TransportWriter
    {
    public:
        static TransportWriter& instance()
        {
            static TransportWriter writer;
            return writer;
        }

        void setMotorMode(uint8_t port, int mode);
        void setMotor(uint8_t port, int valueData);
        void setMotorVelocity(uint8_t port, int32_t velocity);
        void setMotorPosition(uint8_t port, int32_t velocity, int32_t goalPosition);
        void setMotorRelative(uint8_t port, int32_t velocity, int32_t deltaPosition);
        void setServo(uint8_t port, float degrees);
        void setServoMode(uint8_t port, uint8_t mode);
        void setSmoothServo(uint8_t port, float targetDeg, float speedDegPerSec, int easing);
        void setMotorPid(uint8_t port, float kp, float ki, float kd);
        void resetMotorPosition(uint8_t port);

        void setChassisVelocity(float vx, float vy, float wz);

        void setShutdown(bool enabled);

        void sendHeartbeat();

        void sendKinematicsConfig(const std::array<std::array<float, 4>, 3>& inv_matrix,
                                  const std::array<float, 4>& ticks_to_rad,
                                  const std::array<std::array<float, 3>, 4>& fwd_matrix,
                                  const std::array<float, 4>& bemf_offset);

        void resetOdometry();

        void resetCalibOdometry();
    private:
        explicit TransportWriter();
        ~TransportWriter() = default;
 
        libstp::transport_core::SharedTransport& transport_;
    };
}