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69 lines
2.0 KiB
C++
69 lines
2.0 KiB
C++
//
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// Created by Johnathon Slightham on 2025-11-14.
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//
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#ifndef CONTROL_MODULE_H
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#define CONTROL_MODULE_H
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#include <chrono>
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#include <cstdint>
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#include <string>
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#include "flatbuffers/SensorMessageBuilder.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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#include "librpc.h"
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struct neighbour {
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uint8_t device_id;
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Orientation orientation;
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};
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class Module {
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public:
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explicit Module(uint8_t device_id) : m_device_id(device_id) {};
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Module(uint8_t device_id, ModuleType module_type)
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: m_device_id(device_id), m_module_type(module_type) {};
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Module(uint8_t device_id, ModuleType module_type, Messaging::ConnectionType connection_type,
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uint8_t leader)
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: m_device_id(device_id), m_module_type(module_type), m_connection_type(connection_type),
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m_leader(leader) {};
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std::vector<neighbour> get_neighbours();
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uint8_t get_device_id();
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ModuleType get_type();
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Messaging::ConnectionType get_connection_type();
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uint8_t get_leader();
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std::chrono::time_point<std::chrono::system_clock> get_last_updated_time();
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// Not all modules implement all actuation/sensor values, some are no-ops
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virtual double get_position();
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virtual std::string get_text();
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virtual void actuate(double x);
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virtual void actuate(const std::string &text);
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virtual void actuate(double x, double y);
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void update_module_metadata(const Messaging::TopologyMessage &message);
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virtual std::vector<uint8_t> get_actuation_message() = 0;
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virtual void update_sensor_data(const Flatbuffers::sensor_value &value) = 0;
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private:
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uint8_t m_device_id;
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ModuleType m_module_type;
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Messaging::ConnectionType m_connection_type;
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uint8_t m_leader;
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std::chrono::time_point<std::chrono::system_clock> m_last_updated;
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std::vector<neighbour> m_neighbours;
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std::shared_ptr<MessagingInterface> m_messaging_interface;
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};
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#endif // CONTROL_MODULE_H
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