Vehicle.h

#pragma once
 
#include <vector>
 
#include "TinyRobotics/communication/Message.h"
#include "TinyRobotics/communication/MessageHandler.h"
#include "TinyRobotics/communication/MessageSource.h"
#include "TinyRobotics/motors/IMotor.h"
 
namespace tinyrobotics {
 
/**
 * @class Vehicle
 * @ingroup vehicles
 * @brief Abstract base class for all vehicle types.
 *
 * The Vehicle class defines a common interface for all robotic vehicles in the
 * library. It enforces the implementation of a reset() method, which should
 * reset the vehicle's actuators and internal state to a safe or neutral
 * configuration.
 *
 * All vehicle classes (e.g., Car4WD, Quadrotor, AirPlane, MotorBoat) should
 * inherit from Vehicle.
 */
template <typename  MotorT = float>
class Vehicle : public MessageHandler, public MessageSource {
 public:
 
 /**
  * @brief Initialize the vehicle. 
  * 
  * @return true 
  * @return false 
  */
 
  bool begin() {
    end();
    // start all motors
    for (auto* motor : getMotors()) {
      if (motor) motor->begin();
    }
    speedFactor_ = 1.0f;
    return true;
  }
  /**
   * @brief Reset the vehicle to a safe or neutral state (pure virtual).
   */
  virtual void end() = 0;
 
  /**
   * @brief Check if the necessary pins for the vehicle's actuators have been
   * set (pure virtual).
   */
  virtual bool isPinsSet() const = 0;
 
  virtual std::vector<MessageContent> getControls() const = 0;
 
  /**
   * @brief Get the speed factor (scaling for speed commands).
   */
  float getSpeedFactor() const { return speedFactor_; }
 
  /**
   * @brief Set the speed factor (scaling for speed commands).
   */
  void setSpeedFactor(float factor) { speedFactor_ = factor; }
 
  virtual std::vector<IMotor<MotorT>*> getMotors() = 0;
 
 protected:
  float speedFactor_ = 1.0f;
 
};
 
}  // namespace tinyrobotics