Rework library without unix sockets for now

server_v2/include/IRSensors.hpp

@@ -0,0 +1,37 @@
+#ifndef COMPLIB_SERVER_IRSENSORS_HPP
+#define COMPLIB_SERVER_IRSENSORS_HPP
+
+#include <array>
+#include <cstdint>
+
+#include "include/Cache.hpp"
+#include "include/Robot.hpp"
+
+class IRSensors {
+public:
+  static IRSensors &getInstance() {
+    static IRSensors instance;
+    return instance;
+  }
+
+  IRSensors(IRSensors const &) = delete;
+
+  void operator=(IRSensors const &) = delete;
+
+  static void enable();
+
+  static void disable();
+
+  std::array<uint16_t, ROBOT_IR_SENSOR_COUNT> read();
+
+private:
+
+  IRSensors() = default;
+
+  Cache cache{ROBOT_IR_RATE_HZ};
+
+  std::array<uint16_t, ROBOT_IR_SENSOR_COUNT> cached_values = {0};
+};
+
+
+#endif //COMPLIB_SERVER_IRSENSORS_HPP