add top bar

src/robot/robot_runtime.hpp

@@ -0,0 +1,38 @@
+#pragma once
+
+#include <nlohmann/json.hpp>
+
+#include <filesystem>
+#include <mutex>
+#include <string>
+
+namespace lm {
+
+class MissionQueue;
+
+class RobotRuntime
+{
+public:
+  explicit RobotRuntime(std::filesystem::path runtime_path, MissionQueue& mission_queue);
+
+  nlohmann::json status() const;
+  bool start(std::string& err);
+  bool pause(std::string& err);
+  bool resetError(std::string& err);
+  bool setCmdVel(double linear, double angular, std::string& err);
+  bool setJoystick(bool engaged, const std::string& speed, std::string& err);
+  void tick();
+
+private:
+  std::filesystem::path runtime_path_;
+  MissionQueue& mission_queue_;
+  mutable std::mutex mu_;
+  nlohmann::json state_;
+
+  void load();
+  void saveUnlocked() const;
+  void ensureDefaultsUnlocked();
+  nlohmann::json buildStatusUnlocked() const;
+};
+
+}  // namespace lm