#ifndef CONTROL_ACTUATOR_H
#define CONTROL_ACTUATOR_H

#include <cstdint>

#include "Module.h"
#include "flatbuffers_generated/RobotModule_generated.h"
#include "flatbuffers_generated/TopologyMessage_generated.h"

class Actuator : public Module {
  public:
    explicit Actuator(uint8_t device_id) : Module(device_id) {};

    Actuator(uint8_t device_id, ModuleType module_type) : Module(device_id, module_type) {};

    Actuator(uint8_t device_id, ModuleType module_type, Messaging::ConnectionType connection_type,
             uint8_t leader)
        : Module(device_id, module_type, connection_type, leader) {};

  protected:
    virtual std::vector<uint8_t> get_actuation_message() = 0;

  private:
    [[noreturn]] void actuator_tx_loop();
};

#endif // CONTROL_MODULE_H