✨ Adds callback based event bus

2026-02-09 22:45:25 +01:00
parent eba00f98cd
commit 5863598fbc
37 changed files with 671 additions and 816 deletions
@@ -14,6 +14,7 @@
 #include <motion_states/stand_state.h>
 #include <motion_states/rest_state.h>
 #include <message_types.h>
+#include <eventbus.hpp>

 enum class MOTION_STATE { DEACTIVATED, IDLE, CALIBRATION, REST, STAND, WALK };

@@ -62,6 +63,10 @@ class MotionService {
    float dir[12] = {1, -1, -1, -1, -1, -1, 1, -1, -1, -1, -1, -1};

    int64_t lastUpdate = esp_timer_get_time();
+
+    SubscriptionHandle controllerHandle_;
+    SubscriptionHandle walkGaitHandle_;
+    SubscriptionHandle anglesHandle_;
 };

 #endif