51 lines
961 B
C++
51 lines
961 B
C++
#ifndef COMPLIB_SERVER_ODOMETRYCONTROLLER_HPP
|
|
#define COMPLIB_SERVER_ODOMETRYCONTROLLER_HPP
|
|
|
|
|
|
#include <thread>
|
|
#include <mutex>
|
|
#include <chrono>
|
|
|
|
#include "include/Odometry.hpp"
|
|
|
|
class OdometryController {
|
|
public:
|
|
static OdometryController &getInstance() {
|
|
static OdometryController instance;
|
|
return instance;
|
|
}
|
|
|
|
OdometryController(OdometryController const &) = delete;
|
|
|
|
void operator=(OdometryController const &) = delete;
|
|
|
|
void enable();
|
|
|
|
void disable();
|
|
|
|
void reset();
|
|
|
|
Odometry get();
|
|
|
|
[[nodiscard]] bool is_enabled() const;
|
|
|
|
private:
|
|
typedef std::chrono::steady_clock clock;
|
|
|
|
OdometryController();
|
|
|
|
std::thread odometry_thread;
|
|
std::recursive_mutex odometry_mutex;
|
|
|
|
[[noreturn]] void odometry_loop();
|
|
|
|
Odometry current_odometry{};
|
|
bool enabled = false;
|
|
double last_position_left{0};
|
|
double last_position_right{0};
|
|
std::chrono::time_point<clock> last_run;
|
|
|
|
};
|
|
|
|
|
|
#endif //COMPLIB_SERVER_ODOMETRYCONTROLLER_HPP
|