VMXZero.h

/* ============================================
VMX-pi HAL header files are placed under the MIT license
Copyright (c) 2022 Kauai Labs
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
===============================================
*/

#ifndef VMXZERO_H_
#define VMXZERO_H_

#include <stdint.h>
#include "AHRS.h"
#include "VMXTeddy.h"
#include "VMXIO.h"
#include "VMXPower.h"
#include "VMXTime.h"
#include "VMXVersion.h"
#include "VMXThread.h"

#define MAX_NUM_TERMINATION_FUNCS 5

class VMXZeroImpl;
class VMXRemoteServer;

class VMXZero {

    VMXZeroImpl*    p_impl;
    bool        initialized;
    void        Cleanup();
    static void Terminate(void);
    void        (*termination_func[MAX_NUM_TERMINATION_FUNCS])(void);
    uint8_t     num_termination_funcs;
    void        (*final_termination_func)(void);
    VMXRemoteServer *p_remote_server;

#ifndef SWIG /* NOTE:  direct structure access is only available in C++ HAL */
public:
#endif

    vmx::AHRS   ahrs;
    VMXTime     time;
    VMXIO       io;
    VMXTeddy    teddy;
    VMXPower    power;
    VMXVersion  version;
    VMXThread   thread;

public:
    VMXZero(bool realtime, uint8_t ahrs_update_rate_hz);
    virtual ~VMXZero();

    static VMXZero *getInstance();

    bool IsOpen();
    vmx::AHRS& getAHRS() {return ahrs;}
    VMXTime& getTime() {return time;}
    VMXIO& getIO() {return io;}
    VMXTeddy& getTeddy() {return teddy;}
    VMXPower& getPower() {return power;}
    VMXVersion& getVersion() {return version;}
    VMXThread& getThread() {return thread;}
    bool registerShutdownHandler(void (*termination_func)(void));
    bool registerFinalShutdownHandler(void (*termination_func)(void));
    bool getPerformanceLogging();
    void setPerformanceLogging(bool enable);
};

#endif /* VMXZERO_H_ */