Program Listing for File app.h

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// BSD 3-Clause License
//
// Copyright (c) 2023, Ekumen Inc.
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// 1. Redistributions of source code must retain the above copyright notice, this
//    list of conditions and the following disclaimer.
//
// 2. Redistributions in binary form must reproduce the above copyright notice,
//    this list of conditions and the following disclaimer in the documentation
//    and/or other materials provided with the distribution.
//
// 3. Neither the name of the copyright holder nor the names of its
//    contributors may be used to endorse or promote products derived from
//    this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
// FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
// DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
// SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
// CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
// OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#pragma once

#include <Adafruit_BNO055.h>

#include "digital_out_arduino.h"
#include "encoder.h"
#include "interrupt_in_arduino.h"
#include "motor.h"
#include "pid.h"
#include "pwm_out_arduino.h"
#include "serial_stream_arduino.h"
#include "shell.h"

namespace andino {

class App {
 public:
  App() = delete;

  static void setup();

  static void loop();

 private:
  static void adjust_motors_speed();

  static void stop_motors();

  static void cmd_unknown_cb(int argc, char** argv);

  static void cmd_read_analog_gpio_cb(int argc, char** argv);

  static void cmd_read_digital_gpio_cb(int argc, char** argv);

  static void cmd_read_encoders_cb(int argc, char** argv);

  static void cmd_reset_encoders_cb(int argc, char** argv);

  static void cmd_set_motors_speed_cb(int argc, char** argv);

  static void cmd_set_motors_pwm_cb(int argc, char** argv);

  static void cmd_set_pid_tuning_gains_cb(int argc, char** argv);

  static void cmd_get_is_imu_connected_cb(int argc, char** argv);

  static void cmd_read_encoders_and_imu_cb(int argc, char** argv);

  static SerialStreamArduino serial_stream_;

  static Shell shell_;

  static DigitalOutArduino left_motor_enable_digital_out_;
  static PwmOutArduino left_motor_forward_pwm_out_;
  static PwmOutArduino left_motor_backward_pwm_out_;
  static Motor left_motor_;

  static DigitalOutArduino right_motor_enable_digital_out_;
  static PwmOutArduino right_motor_forward_pwm_out_;
  static PwmOutArduino right_motor_backward_pwm_out_;
  static Motor right_motor_;

  static InterruptInArduino left_encoder_channel_a_interrupt_in_;
  static InterruptInArduino left_encoder_channel_b_interrupt_in_;
  static Encoder left_encoder_;

  static InterruptInArduino right_encoder_channel_a_interrupt_in_;
  static InterruptInArduino right_encoder_channel_b_interrupt_in_;
  static Encoder right_encoder_;

  static Pid left_pid_controller_;
  static Pid right_pid_controller_;

  static Adafruit_BNO055 bno055_imu_;

  static unsigned long last_pid_computation_;

  static unsigned long last_set_motors_speed_cmd_;

  static bool is_imu_connected;
};

}  // namespace andino