CscRsInterface.h

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//
//  CscEncoderRs.h
//  ConscienceRobotManager
//
//  Created by Conscience_Victor on 31/03/2020.
//  Copyright © 2020 IliesZaoui. All rights reserved.
//
 
#ifndef CscEncoderRs_h
#define CscEncoderRs_h
 
 
#include <CscCommon.h>
#include "CoreObjects/CscState.h"
#include <chrono>
#include <thread>
 
#define FileDesc int
 
using std::vector, std::string, std::thread;
namespace this_thread = std::this_thread;
 
class ConscienceRsInterface {
private:
    inline static ConscienceRsInterface* instance = nullptr;
    
    bool activated;
    
    float currentMotorsAngles[2] = {0,0};
    float requestedMotorsAngles[2] = {0,0};
    thread *updateStatusAndProcessActionThread = nullptr;
    void refreshMotorsAngles();
    int nbMotors = 2;
    
    
    bool moto0Moving = false;
    bool moto1Moving = false;
public:
    
    explicit ConscienceRsInterface();
    bool setupSerialStream422(FileDesc &fd,const char * portName);
    bool setupSerialStream485(FileDesc &fd,const char * portName);
    
    void writePelcoPMessage(int movement, float deltaAngleMotor0, float deltaAngleMotor1);
    void processUnitSample();
    
    float getMotorAngle(int motorId);
    
    int processResultToRs485(CscState * state);
    
    int readFromRs485(const char * buffer, unsigned int buf_size);
    bool writeToRs485(const char * buffer, unsigned int buf_size);
    
    bool isActivated();
    
    void closeSerial();
    void queryMotorPosition(int motorId);
 
    virtual ~ConscienceRsInterface();
    
    void updateStatusAndProcessAction();
    void initUpdateStatusAndProcessActionThread();
    void activate(const char* rs485PortName,const char* rs422PortName);
    void disactivate();
    
    void reachMotorsAngles(float directionValues[2]);
    int updateRequestedMotorsAngles(float motor0Speed, float motor1Speed);
    
    void stopAllMovments();
    
    const char * rs485PortName;
    const char * rs422PortName;
    int rs485Fd;
    int rs422Fd;
    
    static ConscienceRsInterface* getInstance() {
        if (instance != NULL ) {
            return instance;
        }
        return (instance = new ConscienceRsInterface());
    }
    
    float getMotoValInPercent(int motorId);
    
    void emergencyStop();
};
 
#endif /* CscEncoderRs_h */