controller.h

 
#pragma once
 
#include "base_detection_module.h"
#include "base_turret.h"
#include "control_logic.h"
#include "control_status.h"
#include "joystick.h"
#include "remote_inbox.h"
#include "sync.h"
#include "system_control_types.h"
#include <cstdint>
#include <stdlib.h>
 
class Controller : public BaseStatusProvider, public remote::BaseRemoteSink, private control::ControlPorts
{
private:
    BaseTurret& _turret;
 
    BaseDetectionModule& _detection_module;
 
    Joystick& _joystick;
 
    control::ControlLogic _logic;
 
    vsync::SpinGuarded<ControlStatus> _status;
 
    vsync::SpinGuarded<remote::RemoteInbox> _remote_inbox;
 
    void publish_status(uint32_t now);
 
    control::StickDeflection read_stick() noexcept override;
    remote::Jog read_hud_jog() noexcept override;
    control::HudRequests take_hud_requests() noexcept override;
    TrackSnapshot read_track() noexcept override;
    aiming::Angles turret_pose() noexcept override;
    float turret_pan_speed() noexcept override;
    void turret_jog(float pan, float tilt) noexcept override;
    void turret_set_target(const aiming::Angles& target) noexcept override;
    void turret_home() noexcept override;
    void reset_detection() noexcept override;
    bool save_calibration(const aiming::AimMap& map) noexcept override;
    void log(const control::LogRecord& record) noexcept override;
public:
    Controller(BaseTurret& turret, BaseDetectionModule& detection_module, Joystick& joystick)
        : _turret(turret), _detection_module(detection_module), _joystick(joystick), _logic(*this)
    {
    }
 
    ~Controller() override {}
 
    void begin();
    void run();
 
    void submit(const remote::Command& cmd) override;
 
    ControlStatus control_status() const override;
};