chassis_control_context.hpp

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#pragma once
 
#include <atomic>
 
namespace libstp::foundation
{
    using ChassisVelocitySink = bool (*)(double vx, double vy, double wz);

    class ChassisControlContext
    {
    public:
        static ChassisControlContext& instance();

        void setSink(ChassisVelocitySink sink) noexcept
        {
            sink_.store(sink, std::memory_order_release);
        }

        [[nodiscard]] bool hasSink() const noexcept
        {
            return sink_.load(std::memory_order_acquire) != nullptr;
        }

        [[nodiscard]] bool command(double vx, double vy, double wz) const noexcept
        {
            const ChassisVelocitySink s = sink_.load(std::memory_order_acquire);
            return s != nullptr && s(vx, vy, wz);
        }
 
        ChassisControlContext(const ChassisControlContext&)            = delete;
        ChassisControlContext& operator=(const ChassisControlContext&) = delete;
        ChassisControlContext(ChassisControlContext&&)                 = delete;
        ChassisControlContext& operator=(ChassisControlContext&&)      = delete;
 
    private:
        ChassisControlContext() = default;
 
        std::atomic<ChassisVelocitySink> sink_{nullptr};
    };
}