power.h

#pragma once
 
#include <atomic>
#include <thread>
 
#include "proto/power_frame_msg.pb.h"
#include "shared/uart_framing/uart_framing.hpp"
#include "software/logger/logger.h"
#include "software/uart/boost_uart_communication.h"
 
extern "C"
{
#include "proto/power_frame_msg.nanopb.h"
}
 
class PowerService
{
   public:
    PowerService();
    ~PowerService();
 
    TbotsProto::PowerStatus poll(const TbotsProto::PowerControl& control,
                                 double kick_coeff, int kick_constant, int chip_constant);
 
    void tick();
 
   private:
    void continuousRead();
 
    std::thread read_thread;
    std::atomic<TbotsProto_PowerStatus> status;
    std::atomic<TbotsProto_PowerPulseControl> nanopb_command;
    std::unique_ptr<BoostUartCommunication> uart;
 
    // Constants
    const size_t READ_BUFFER_SIZE =
        getMarshalledSize(TbotsProto_PowerStatus TbotsProto_PowerStatus_init_default);
    const std::string DEVICE_SERIAL_PORT    = "/dev/ttyUSB0";
    static constexpr unsigned int BAUD_RATE = 460800;
 
    // Required flag to exit power service cleanly
    bool is_running = true;
};