_librk_context.h

#pragma once
 
#include <atomic>
 
#include "RBControl_arm.hpp"
 
#include "mcp3008_linesensor.h"
 
#include "_librk_arm.h"
#include "_librk_motors.h"
#include "_librk_wifi.h"
 
namespace rk {
 
class Context {
public:
    Context();
    ~Context();
 
    void setup(const rkConfig& cfg);
 
    rb::Protocol* prot() const { return m_prot; }
    ArmWrapper& arm() { return m_arm; }
    Motors& motors() { return m_motors; }
    mcp3008::LineSensor& line();
 
    void saveLineCalibration();
 
private:
    void handleRbcontrollerMessage(const std::string& cmd, rbjson::Object* pkt);
    bool loadLineCalibration(mcp3008::LineSensor::CalibrationData& data);
 
    ArmWrapper m_arm;
    Motors m_motors;
    WiFi m_wifi;
    rb::Protocol* m_prot;
 
    std::atomic<bool> m_initialized;
 
    std::atomic<bool> m_line_installed;
    mcp3008::Driver::Config m_line_cfg;
    mcp3008::LineSensor m_line;
};
 
extern Context gCtx;
 
};