45 lines
1.3 KiB
C++
45 lines
1.3 KiB
C++
#pragma once
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#include "memory_types.hpp"
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#include <string>
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#include <iostream>
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enum DATA_ACCESS_MODE {
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PLANT_TO_EXECUTOR,
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EXECUTOR_TO_PLANT
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};
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// Single communication manager for quadruped
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class CommunicationManager {
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public:
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CommunicationManager(const DATA_ACCESS_MODE& mode);
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CommunicationManager(const std::string&, const DATA_ACCESS_MODE& mode);
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~CommunicationManager() {}
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void writeSensorData(const QuadrupedSensorData& sensor_data);
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void writeCommandData(const QuadrupedCommandData& cmd_data);
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void setSensorDataPtr(QuadrupedSensorData* sensor_data_ptr) {
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m_sensor_data_ptr = sensor_data_ptr;
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}
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void setCommandDataPtr(QuadrupedCommandData* command_data_ptr) {
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m_joint_command_data_ptr = command_data_ptr;
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}
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void getSensorData(QuadrupedSensorData& sensor_data);
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void getCommandData(QuadrupedCommandData& cmd_data);
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void setAccessMode(const DATA_ACCESS_MODE& mode) {
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m_mode = mode;
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}
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protected:
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QuadrupedSensorData* m_sensor_data_ptr = NULL;
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QuadrupedCommandData* m_joint_command_data_ptr = NULL;
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int m_mode = DATA_ACCESS_MODE::PLANT_TO_EXECUTOR;
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private:
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std::string m_name;
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// QuadrupedEstimatoinData m_estimation_data;
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// QuadrupedPlannerData m_planner_data;
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}; |