MotorGuard.hpp

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#ifndef MOTORGUARD_HPP
#define MOTORGUARD_HPP
#include <memory>
#include "OneMotor/Can/CanDriver.hpp"
 
namespace OneMotor::Motor::DJI
{
    class MotorGuard
    {
    public:
        using ExitFrameData = std::optional<std::array<uint8_t, 16>>;
        using DriverPair = std::pair<std::string, ExitFrameData>;
        static MotorGuard& getInstance();
        void guard(
            const std::vector<DriverPair>& driver_set);
        MotorGuard(MotorGuard&) = delete;
        MotorGuard& operator=(const MotorGuard&) = delete;
 
    private:
        struct WatchdogState
        {
            std::atomic<std::chrono::steady_clock::time_point> last_fed_time_; 
            std::atomic<bool> triggered_; 
        };
 
        MotorGuard();
        std::vector<std::shared_ptr<Can::CanDriver>> drivers; 
 
        std::unordered_map<std::shared_ptr<Can::CanDriver>, std::unique_ptr<WatchdogState>> watchdog_states_;
        std::unordered_map<std::shared_ptr<Can::CanDriver>, std::array<uint8_t, 16>> driver_exit_data_; 
        std::mutex state_mutex_; 
        std::chrono::milliseconds check_timeout_{50}; 
        std::jthread watchdog_monitor_; 

        void feed_watchdog(const std::shared_ptr<Can::CanDriver>& driver);
        void watchdog_monitor_func_(const std::stop_token& stop_token);
        void circuit_breaker_action_(const std::shared_ptr<Can::CanDriver>& driver);
    };
}
 
#endif //MOTORGUARD_HPP