M3508Base.hpp

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#ifndef M3508BASE_HPP
#define M3508BASE_HPP
#include <expected>
#include "M3508Frames.hpp"
#include "OneMotor/Control/PID.hpp"
#include "OneMotor/Util/SpinLock.hpp"
 
namespace OneMotor::Motor::DJI
{
    using PIDController = Control::PIDController<
        Control::Positional, float, Control::WithDeadband, Control::WithIntegralLimit, Control::WithOutputLimit,
        Control::WithOutputFilter, Control::WithDerivativeFilter>;

    template <uint8_t id>
    class M3508Base
    {
        using Result = std::expected<void, std::string>;
 
    public:
        virtual ~M3508Base();

        M3508Status getStatus() noexcept;

        Result disable() noexcept;

        Result enable() noexcept;

        Result shutdown() noexcept;
 
    protected:
        explicit M3508Base(Can::CanDriver& driver);

        virtual void disabled_func_(Can::CanFrame&& frame) = 0;

        virtual void enabled_func_(Can::CanFrame&& frame) = 0;

        static void shutdown_func_([[maybe_unused]] Can::CanFrame&& frame)
        {
        };
 
        Can::CanDriver& driver_; 
        Util::SpinLock status_lock_; 
        M3508Status status_; 
        static constexpr uint16_t canId_ = id + 0x200; 
    };
}
 
#endif //M3508BASE_HPP