/**
 * @file driveManager.cpp
 * @author Alexander Klein (alex@kleiax.de)
 * @brief Implementation of the class DriveManager
 * @version 0.1
 * @date 2021-12-14
 *
 * @copyright Copyright (c) 2021
 *
 */

#include "driveModi/driveManager.h"

DriveManager::DriveManager(MoveControl *moveControl, const SensorData *sensorData, const ControlPadInput *input)
    : driveModiParams{moveControl, input, sensorData}
{
    this->init();
}

DriveManager::DriveManager(DriveModiParams params)
    : driveModiParams{params}
{
    this->init();
}

void DriveManager::changeModus(DriveModi *modus)
{
    if (static_cast<bool>(this->currentModusPtr))
    {
        this->removeChildComponent(this->currentModusPtr);
        delete this->currentModusPtr;
        this->currentModusPtr = nullptr;
    }

    this->currentModusPtr = modus;

    if (static_cast<bool>(this->currentModusPtr))
    {
        this->currentModusPtr->activate(this->driveModiParams);
        this->currentModusPtr->setSpeeds(this->drivingSpeeds);
        this->addChildComponent(this->currentModusPtr);
    }
}

void DriveManager::init()
{
    this->addChildComponent(this->driveModiParams.moveControl);
    this->activateOnlyChilds();
}