MissionControlProtocol.h

#pragma once
 
#include "../autonomous/AutonomousTask.h"
#include "../utils/scheduler.h"
#include "../video/H264Encoder.h"
#include "../world_interface/world_interface.h"
#include "MissionControlTasks.h"
#include "websocket/WebSocketProtocol.h"
#include "websocket/WebSocketServer.h"
 
#include <atomic>
#include <condition_variable>
#include <memory>
#include <optional>
#include <shared_mutex>
#include <thread>
#include <unordered_map>
#include <unordered_set>
 
namespace net {
namespace mc {
 
using json = nlohmann::json;
using robot::types::CameraID;
using robot::types::jointid_t;
using websocket::SingleClientWSServer;
using websocket::WebSocketProtocol;

static bool validateJoint(const json& j);
static void stopAllJoints();
 
class MissionControlProtocol : public WebSocketProtocol { // TODO: add documentation
public:
    MissionControlProtocol(SingleClientWSServer& server);
    ~MissionControlProtocol();
    MissionControlProtocol(const MissionControlProtocol& other) = delete;
    MissionControlProtocol& operator=(const MissionControlProtocol& other) = delete;
 
private:
    SingleClientWSServer& _server;
    tasks::PowerRepeatTask _power_repeat_task;
    tasks::CameraStreamTask _camera_stream_task;
    tasks::TelemReportTask _telem_report_task;
    tasks::ArmIKTask _arm_ik_task;
    autonomous::AutonomousTask _autonomous_task;
 
    void handleEmergencyStopRequest(const json& j);
    void handleOperationModeRequest(const json& j);
    void handleTankDriveRequest(const json& j);
    void handleCameraStreamOpenRequest(const json& j);
    void handleCameraStreamCloseRequest(const json& j);
    void handleCameraFrameRequest(const json& j);
    void handleJointPowerRequest(const json& j);
    void handleJointPositionRequest([[maybe_unused]] const json& j);
    void handleWaypointNavRequest(const json& j);
    void handleDriveRequest(const json& j);
    void handleRequestArmIKEnabled(const json& j);
    void handleServoPositionRequest(const json& j);
    void handleStepperTurnAngleRequest(const json& j);
    void sendArmIKEnabledReport(bool enabled);
    void handleConnection();
    void handleHeartbeatTimedOut();
    void stopAndShutdownPowerRepeat(bool sendDisableIK);
 
    void setArmIKEnabled(bool enabled, bool sendReport = true);
    void setRequestedJointPower(jointid_t joint, double power);
    void setRequestedCmdVel(double dtheta, double dx);
    void setRequestedTankCmdVel(double left, double right);
};
 
}; // namespace mc
} // namespace net