mirror of
https://github.com/BotChain-Robots/firmware.git
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50 lines
1.2 KiB
C++
50 lines
1.2 KiB
C++
#include "MovementManager.h"
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#include "nvs_flash.h"
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#include "TopologyBlobs.h"
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#include <memory>
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#include <vector>
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#ifdef MOVEMENTS
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#pragma once
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typedef struct _condition_blob {
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uint16_t value;
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uint8_t cond;
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uint8_t moduleType;
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uint8_t in_use;
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} ConditionBlob;
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typedef struct _movement_entry {
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uint16_t board_id;
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uint8_t moduleType;
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uint16_t value_action;
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ConditionBlob condition;
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uint8_t ack;
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uint16_t ack_ttl_ms;
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uint16_t post_delay_ms;
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} MovementEntry;
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typedef struct _movement {
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uint8_t num_movements;
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MovementEntry movements[];
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} MovementSet;
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class MovementSetManager {
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public:
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MovementSetManager();
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~MovementSetManager();
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esp_err_t add_movement(MovementEntry& entry, uint8_t& index);
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esp_err_t remove_movement(uint8_t index);
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esp_err_t update_movement(MovementEntry& entry, uint8_t index);
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esp_err_t get_curr_movement_set(MovementSet& set);
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esp_err_t verify_movement_set();
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esp_err_t get_nvs_movement_set(MovementSet& set);
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esp_err_t write_nvs_movement_set();
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private:
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std::unique_ptr<TopologyManager> topology_manager;
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std::vector<MovementEntry> movements;
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nvs_handle_t handle;
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};
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#endif //MOVEMENTS
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