robot.h

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#pragma once
 
#include "types/protected_struct.h"
#include "include/hal/gpio.h"
#include "include/hal/ledc.h"
#include "include/hal/adc.h"
#include "include/hal/i2c.h"
#include "devices/battery/battery.h"
#include "devices/leds/leds.h"
#include "devices/display/display.h"
#include "devices/buttons/buttons.h"
#include "devices/buzzer/buzzer.h"

class Robot {
private:
    static constexpr const char* TAG = "Robot";
 
    static constexpr gpio_num_t STATUS_LED_PIN = GPIO_NUM_5;
    static constexpr gpio_num_t BOTTOM_LED_PIN = GPIO_NUM_13;
 
private:
    explicit Robot();
    ~Robot();
 
public:
    struct task_config_t {
        TaskFunction_t task_function;
        const char* task_name;
        const uint32_t stack_depth;
        void* const params_for_task;
        UBaseType_t priority;
        TaskHandle_t* const created_task_handle;
        const BaseType_t core_id;
    };
 
    enum class rgb_leds_mode_t : uint8_t {
        OFF = 0,
        HEADLIGHTS = 1,
        RANDOM_COLORS = 2,
        POLICE = 3
    };
 
public:
    HAL::GPIO::Controller& gpio;
    HAL::LEDC::Controller& ledc;
    HAL::ADC::Controller& adc;
    HAL::I2C::Controller& i2c;
 
    Device::Battery battery;
    Device::Leds leds;
    Device::Display display;
    Device::Buttons buttons;
    Device::Buzzer buzzer;
 
    struct data_struct {
        struct leds_struct {
            bool status_led_active;
            bool bottom_led_active;
            rgb_leds_mode_t rgb_leds_mode;
        } leds{};
    };
    protected_struct<data_struct> data{};
 
public:
    Robot(const Robot&) = delete;
    Robot& operator=(const Robot&) = delete;

    static Robot& get_instance() {
        static Robot _instance;
        return _instance;
    }

    void create_task(const task_config_t& config);

    void permanent_sleep();

    void set_status_led(bool state) const;

    void set_bottom_led(bool state) const;
};