Switched build system to esp-idf

main/controller.h

@@ -0,0 +1,59 @@
+#pragma once
+
+// system includes
+#include <functional>
+
+// Arduino includes
+#ifdef FEATURE_SERIAL
+#include <HardwareSerial.h>
+#endif
+
+// 3rdparty lib includes
+#include <espchrono.h>
+
+// local includes
+#include "bobbycar-common.h"
+#include "bobbycar-serial.h"
+#ifdef FEATURE_SERIAL
+#include "feedbackparser.h"
+#endif
+
+// forward declares
+#ifdef FEATURE_SERIAL
+class HardwareSerial;
+#endif
+
+namespace {
+struct Controller {
+    Controller(
+#ifdef FEATURE_SERIAL
+        HardwareSerial &serial,
+#endif
+        bool &enableLeft, bool &enableRight, bool &invertLeft, bool &invertRight) :
+#ifdef FEATURE_SERIAL
+        serial{serial},
+#endif
+        enableLeft{enableLeft}, enableRight{enableRight}, invertLeft{invertLeft}, invertRight{invertRight}
+    {
+    }
+//    Controller(const Controller &) = delete;
+//    Controller &operator=(const Controller &) = delete;
+
+#ifdef FEATURE_SERIAL
+    std::reference_wrapper<HardwareSerial> serial;
+#endif
+    bool &enableLeft, &enableRight, &invertLeft, &invertRight;
+
+    bobbycar::protocol::serial::Command command{};
+
+#ifdef FEATURE_CAN
+    espchrono::millis_clock::time_point lastCanFeedback{};
+#endif
+    bool feedbackValid{};
+    bobbycar::protocol::serial::Feedback feedback{};
+
+#ifdef FEATURE_SERIAL
+    FeedbackParser parser{serial, feedbackValid, feedback};
+#endif
+};
+}