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Oled implementation (#1)

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This commit is contained in:
Johnathon Slightham
2026-02-07 15:05:45 -05:00
committed by GitHub
parent 048e39016a
commit 33c3ebad53
46 changed files with 1790 additions and 1260 deletions
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66
include/Module.h
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@@ -7,6 +7,7 @@
#include <chrono>
#include <cstdint>
#include <string>
#include "flatbuffers/SensorMessageBuilder.h"
#include "flatbuffers_generated/RobotModule_generated.h"
@@ -14,53 +15,54 @@
#include "librpc.h"
struct neighbour {
uint8_t device_id;
Orientation orientation;
uint8_t device_id;
Orientation orientation;
};
class Module {
public:
explicit Module(uint8_t device_id) : m_device_id(device_id) {};
public:
explicit Module(uint8_t device_id) : m_device_id(device_id) {};
Module(uint8_t device_id, ModuleType module_type)
: m_device_id(device_id), m_module_type(module_type) {};
Module(uint8_t device_id, ModuleType module_type)
: m_device_id(device_id), m_module_type(module_type) {};
Module(uint8_t device_id, ModuleType module_type, Messaging::ConnectionType connection_type,
uint8_t leader)
: m_device_id(device_id), m_module_type(module_type), m_connection_type(connection_type),
m_leader(leader) {};
Module(uint8_t device_id, ModuleType module_type,
Messaging::ConnectionType connection_type, uint8_t leader)
: m_device_id(device_id), m_module_type(module_type),
m_connection_type(connection_type), m_leader(leader) {};
std::vector<neighbour> get_neighbours();
std::vector<neighbour> get_neighbours();
uint8_t get_device_id();
uint8_t get_device_id();
ModuleType get_type();
ModuleType get_type();
Messaging::ConnectionType get_connection_type();
Messaging::ConnectionType get_connection_type();
uint8_t get_leader();
uint8_t get_leader();
std::chrono::time_point<std::chrono::system_clock> get_last_updated_time();
std::chrono::time_point<std::chrono::system_clock> get_last_updated_time();
virtual double get_position() = 0;
virtual void actuate(double x) = 0;
// Not all modules implement all actuation/sensor values, some are no-ops
virtual double get_position() = 0;
virtual std::string get_text() = 0;
virtual void actuate(double x) = 0;
virtual void actuate(const std::string &text) = 0;
virtual void actuate(double x, double y) = 0;
// There are no modules with 2D actuation support, this is an example of how to implement it.
virtual void actuate(double x, double y) = 0;
void update_module_metadata(const Messaging::TopologyMessage &message);
void update_module_metadata(const Messaging::TopologyMessage &message);
virtual std::vector<uint8_t> get_actuation_message() = 0;
virtual void update_sensor_data(const Flatbuffers::sensor_value &value) = 0;
virtual std::vector<uint8_t> get_actuation_message() = 0;
virtual void update_sensor_data(const Flatbuffers::sensor_value &value) = 0;
private:
uint8_t m_device_id;
ModuleType m_module_type;
Messaging::ConnectionType m_connection_type;
uint8_t m_leader;
std::chrono::time_point<std::chrono::system_clock> m_last_updated;
std::vector<neighbour> m_neighbours;
std::shared_ptr<MessagingInterface> m_messaging_interface;
private:
uint8_t m_device_id;
ModuleType m_module_type;
Messaging::ConnectionType m_connection_type;
uint8_t m_leader;
std::chrono::time_point<std::chrono::system_clock> m_last_updated;
std::vector<neighbour> m_neighbours;
std::shared_ptr<MessagingInterface> m_messaging_interface;
};
#endif // CONTROL_MODULE_H