MotorManager.hpp

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#ifndef MOTORMANAGER_HPP
#define MOTORMANAGER_HPP
 
#include <unordered_map>
#include <OneMotor/Can/CanDriver.hpp>
 
#include "OneMotor/Thread/Othread.hpp"
#include "OneMotor/Util/SpinLock.hpp"
 
namespace OneMotor::Motor::DJI
{
    class MotorManager
    {
    public:
        using Result = std::expected<void, std::string>;
 
        MotorManager(const MotorManager&) = delete;
        MotorManager(MotorManager&&) = delete;
        MotorManager& operator=(MotorManager&) = delete;
        MotorManager& operator=(MotorManager&&) = delete;

        ~MotorManager();

        static MotorManager& getInstance();

        Result registerMotor(Can::CanDriver& driver, uint16_t canId) noexcept;

        Result deregisterMotor(Can::CanDriver& driver, uint16_t canId) noexcept;

        template <uint8_t id>
        void pushOutput(Can::CanDriver& driver, uint8_t lo_value, uint8_t hi_value) noexcept;
 
    private:
        using OutputArray = std::array<uint8_t, 16>; 
        using OutputPair = std::pair<OutputArray, Util::SpinLock>; 

        MotorManager();

        std::unordered_map<Can::CanDriver*, std::set<uint16_t>> driver_motor_ids;
        std::unordered_map<Can::CanDriver*, OutputPair> driver_motor_outputs;
        std::atomic<bool> stop_{false}; 
        std::unique_ptr<thread::Othread> thread_; 
    };
}
 
#endif //MOTORMANAGER_HPP