Add WheelController and allow compilation on Windows

Car-Application.code-workspace

@@ -109,7 +109,10 @@
 			"shared_mutex": "cpp",
 			"cinttypes": "cpp",
 			"filesystem": "cpp",
-			"variant": "cpp"
+			"variant": "cpp",
+			"complex": "cpp",
+			"queue": "cpp",
+			"ranges": "cpp"
 		}
 	}
 }

app/raspberry_pi/src/car/system/movement/MovementSystem.cxx

@@ -5,34 +5,26 @@
 
 #include <memory>
 
-#include "PCA9685.h"
-
 #include "../messaging/commands/MoveCommand.cxx"
 #include "../messaging/commands/TurnCommand.cxx"
 
-#include "wheels/FrontWheel.cxx"
-#include "wheels/RearWheel.cxx"
+#include "controller/AbstractWheelController.cxx"
 
+using namespace car::system::movement::controller;
 using namespace car::system::messaging::commands;
 
 namespace car::system::movement {
-    constexpr int MIN_PULSE_WIDTH = 900;
-    constexpr int MAX_PULSE_WIDTH = 2100;
-    constexpr int FREQUENCY = 50;
-
-    class MovementSystem
+	class MovementSystem
 	{
 	public:
-        MovementSystem() {
+		MovementSystem(std::unique_ptr<AbstractWheelController> wheel_controller) : wheel_controller(std::move(wheel_controller))
+		{
 		};
 
 		void initialize()
 		{
-            this->pwm->init(1, 0x40);
-            std::this_thread::sleep_for(std::chrono::milliseconds(100));
-            this->pwm->setPWMFreq(FREQUENCY);
-            std::this_thread::sleep_for(std::chrono::milliseconds(1000));
-        }
+			this->wheel_controller->initialize();
+		}
 
 		void start()
 		{
@@ -42,18 +34,18 @@ namespace car::system::movement {
 		}
 
 		void move(const MoveCommand& move_command) {
-
+			this->wheel_controller->move(move_command);
 		}
 
 		void turn(const TurnCommand& turn_command) {
-
+			this->wheel_controller->turn(turn_command);
 		}
 
 		~MovementSystem() {
 		};
 
 	private:
-        std::unique_ptr<PCA9685> pwm;
+		std::unique_ptr<AbstractWheelController> wheel_controller;
 	};
 };
 

app/raspberry_pi/src/car/system/movement/controller/AbstractWheelController.cxx

@@ -0,0 +1,25 @@
+#ifndef ABSTRACTWHEELCONTROLLER_CXX
+#define ABSTRACTWHEELCONTROLLER_CXX
+
+#pragma once
+
+#include "../../messaging/commands/MoveCommand.cxx"
+#include "../../messaging/commands/TurnCommand.cxx"
+
+using namespace car::system::messaging::commands;
+
+namespace car::system::movement::controller
+{
+    class AbstractWheelController
+    {
+    public:
+        virtual void initialize() = 0;
+
+        virtual void move(const MoveCommand &move_command) = 0;
+        virtual void turn(const TurnCommand &turn_command) = 0;
+
+    private:
+    };
+} // namespace car::system::movement::controller
+
+#endif

app/raspberry_pi/src/car/system/movement/controller/CarWheelController.cxx

@@ -0,0 +1,51 @@
+#ifdef __linux__
+#ifndef CARWHEELCONTROLLER_CXX
+#define CARWHEELCONTROLLER_CXX
+
+#pragma once
+
+#include <memory>
+#include <thread>
+#include <chrono>
+
+#include <PCA9685.h>
+
+#include "AbstractWheelController.cxx"
+
+#include "../wheels/FrontWheel.cxx"
+#include "../wheels/RearWheel.cxx"
+
+namespace car::system::movement::controller
+{
+	constexpr int MIN_PULSE_WIDTH = 900;
+	constexpr int MAX_PULSE_WIDTH = 2100;
+	constexpr int FREQUENCY = 50;
+	class CarWheelController : public AbstractWheelController
+	{
+	public:
+		CarWheelController() {};
+		~CarWheelController() {};
+
+		void initialize() override {
+			this->pwm->init(1, 0x40);
+			std::this_thread::sleep_for(std::chrono::milliseconds(100));
+			this->pwm->setPWMFreq(FREQUENCY);
+			std::this_thread::sleep_for(std::chrono::milliseconds(1000));
+		}
+
+		void move(const MoveCommand& move_command) override {
+
+		}
+
+		void turn(const TurnCommand& turn_command) override {
+
+		}
+
+	private:
+		std::unique_ptr<PCA9685> pwm;
+
+	};
+} // namespace car::system::movement::controller
+
+#endif
+#endif // __linux__

app/raspberry_pi/src/car/system/movement/controller/DummyWheelController.cxx

@@ -0,0 +1,22 @@
+#ifndef DUMMYWHEELCONTROLLER_CXX
+#define DUMMYWHEELCONTROLLER_CXX
+
+#pragma once
+
+#include "AbstractWheelController.cxx"
+
+namespace car::system::movement::controller
+{
+    class DummyWheelController : public AbstractWheelController
+    {
+    public:
+        void initialize(){};
+
+        void move(const MoveCommand &move_command){};
+        void turn(const TurnCommand &turn_command){};
+
+    private:
+    };
+} // namespace car::system::movement::controller
+
+#endif

app/raspberry_pi/src/car/system/movement/wheels/FrontWheel.cxx

@@ -1,3 +1,4 @@
+#ifdef __linux__
 #ifndef FRONTWHEEL_CXX
 #define FRONTWHEEL_CXX
 
@@ -58,4 +59,5 @@ namespace car::system::movement::wheels
 	};
 } // namespace car::system::movement::wheels
 
-#endif
+#endif
+#endif // __linux__

app/raspberry_pi/src/car/system/movement/wheels/RearWheel.cxx

@@ -1,3 +1,4 @@
+#ifdef __linux__
 #ifndef REARWHEEL_CXX
 #define REARWHEEL_CXX
 
@@ -91,4 +92,5 @@ namespace car::system::movement::wheels
 	};
 } // namespace car::system::movement::wheels
 
+#endif
 #endif

app/raspberry_pi/src/main.cpp

@@ -12,6 +12,8 @@
 #include "car/system/lidar/LidarScanner.cxx"
 #include "car/system/lidar/LidarDummy.cxx"
 
+#include "car/system/movement/controller/DummyWheelController.cxx"
+
 std::string getWebSocketUrl()
 {
 	std::optional<int> maybe_port = GET_CONFIG_VALUE(port);
@@ -33,6 +35,7 @@ int main()
 	using namespace car::system;
 	using namespace car::system::lidar;
 	using namespace car::system::messaging;
+	using namespace car::system::movement::controller;
 	using namespace rplidar;
 
 	// spdlog::set_level(spdlog::level::off);
@@ -50,7 +53,7 @@ int main()
 
 	std::unique_ptr<MessagingSystem> messaging_system = std::make_unique<MessagingSystem>(websocket_url);
 
-	std::unique_ptr<MovementSystem> movement_system = std::make_unique<MovementSystem>();
+	std::unique_ptr<MovementSystem> movement_system = std::make_unique<MovementSystem>(std::make_unique<DummyWheelController>());
 
 	auto car_system = std::make_unique<CarSystem>(
 		websocket_url,