Initial commit

include/okapi/api/chassis/model/readOnlyChassisModel.hpp

@@ -0,0 +1,28 @@
+/*
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+#pragma once
+
+#include "okapi/api/coreProsAPI.hpp"
+#include <valarray>
+
+namespace okapi {
+/**
+ * A version of the ChassisModel that only supports read methods, such as querying sensor values.
+ * This class does not let you write to motors, so it supports having multiple owners and as a
+ * result copying is enabled.
+ */
+class ReadOnlyChassisModel {
+  public:
+  virtual ~ReadOnlyChassisModel() = default;
+
+  /**
+   * Read the sensors.
+   *
+   * @return sensor readings (format is implementation dependent)
+   */
+  virtual std::valarray<std::int32_t> getSensorVals() const = 0;
+};
+} // namespace okapi