Rework library without unix sockets for now

server_v2/include/Encoders.hpp

@@ -0,0 +1,35 @@
+#ifndef COMPLIB_SERVER_ENCODERS_HPP
+#define COMPLIB_SERVER_ENCODERS_HPP
+
+#include <array>
+#include <cstdint>
+#include "include/Cache.hpp"
+#include "include/Robot.hpp"
+
+class Encoders {
+public:
+  static Encoders &getInstance() {
+    static Encoders instance;
+    return instance;
+  }
+
+  Encoders(Encoders const &) = delete;
+
+  void operator=(Encoders const &) = delete;
+
+  std::array<int32_t, ROBOT_MOTOR_COUNT> get_positions();
+
+  std::array<double, ROBOT_MOTOR_COUNT> get_velocities_rpm();
+
+private:
+  Encoders() = default;
+
+  Cache position_cache{ROBOT_ENCODER_RATE_HZ};
+  Cache velocity_cache{ROBOT_ENCODER_RATE_HZ};
+
+  std::array<int32_t, ROBOT_MOTOR_COUNT> cached_positions = {0};
+  std::array<double, ROBOT_MOTOR_COUNT> cached_velocities_rpm = {0};
+};
+
+
+#endif //COMPLIB_SERVER_ENCODERS_HPP