MotorManager.hpp

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#ifndef MOTORMANAGER_HPP
#define MOTORMANAGER_HPP
 
#include <atomic>
#include <unordered_map>
#include <memory>
#include <set>
#include <array>
 
#include "OneMotor/Can/CanDriver.hpp"
#include "OneMotor/Thread/Othread.hpp"
#include "OneMotor/Util/Error.hpp"
#include <tl/expected.hpp>
 
namespace OneMotor::Motor::DJI
{
    class MotorManager
    {
    public:
        MotorManager(const MotorManager&) = delete;
        MotorManager(MotorManager&&) = delete;
        MotorManager& operator=(MotorManager&) = delete;
        MotorManager& operator=(MotorManager&&) = delete;

        ~MotorManager();

        static MotorManager& getInstance();

        tl::expected<void, Error> registerMotor(Can::CanDriver& driver, uint16_t canId) noexcept;

        tl::expected<void, Error> deregisterMotor(Can::CanDriver& driver, uint16_t canId) noexcept;

        void pushOutput(Can::CanDriver& driver, uint16_t control_can_id, uint8_t offset, uint8_t lo_value,
                        uint8_t hi_value) noexcept;
 
    private:
        MotorManager();
 
 
        std::atomic<bool> stop_{false}; 
        std::unique_ptr<Thread::Othread> thread_; 
    };
}
 
#endif //MOTORMANAGER_HPP