70 lines
1.7 KiB
C++
70 lines
1.7 KiB
C++
/**
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* @file driveManager.h
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* @author Alexander Klein (alex@kleiax.de)
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* @brief Contains a class to switch the DriveModi
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* @version 0.1
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* @date 2021-12-14
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*
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* @copyright Copyright (c) 2021
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*
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*/
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#ifndef DRIVE_MANAGER_H
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#define DRIVE_MANAGER_H
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#include "moveControl.h"
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#include "driveModi/driveModi.h"
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#include "navigation.h"
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#include "config.h"
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#include "controlPadInput.h"
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#include "component.h"
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#include "sensorData.h"
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class DriveManager : public Component {
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public:
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/**
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* @brief Construct a new Drive Manager object
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*
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* Creates a Navigation object
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*
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* @param moveControl
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*/
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DriveManager(MoveControl *moveControl, const SensorData* sensorData, const ControlPadInput *input);
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DriveManager(DriveModiParams params);
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/**
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* @brief Change the DriveModi to a specific value
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*
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* Sets MoveControl to a safe state, delete the last
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* DriveModi and than set the new DriveModi
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*
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* @param modus
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*/
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void changeModus(DriveModi* modus = nullptr);
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/**
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* @brief Get the DriveModi Ptr object
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*
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* This is a pointer to the Object of the current DriveMode.
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* If you know which DriveMode is active, you can cast this
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* pointer to it.
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*
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* @see getDriveModi
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* @return DriveModi*
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*/
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DriveModi* getDriveModiPtr() const { return this->currentModusPtr; }
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bool isActive() const { return this->currentModusPtr; }
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private:
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void run() override {};
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void init();
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DriveModi *currentModusPtr = nullptr;
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DriveModiParams driveModiParams;
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};
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#endif // DRIVE_MANAGER_H
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