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30 lines
763 B
C++
30 lines
763 B
C++
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#ifndef CONTROL_ACTUATOR_H
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#define CONTROL_ACTUATOR_H
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#include <cstdint>
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#include "Module.h"
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#include "flatbuffers_generated/RobotModule_generated.h"
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#include "flatbuffers_generated/TopologyMessage_generated.h"
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class Actuator : public Module {
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public:
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explicit Actuator(uint8_t device_id) : Module(device_id) {};
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Actuator(uint8_t device_id, ModuleType module_type)
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: Module(device_id, module_type) {};
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Actuator(uint8_t device_id, ModuleType module_type,
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Messaging::ConnectionType connection_type, uint8_t leader)
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: Module(device_id, module_type, connection_type, leader) {};
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protected:
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virtual std::vector<uint8_t> get_actuation_message() = 0;
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private:
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[[noreturn]] void actuator_tx_loop();
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};
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#endif // CONTROL_MODULE_H
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