CscServoInterface.h

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//
//  CscEncoderRs.h
//  ConscienceRobotManager
//
//  Created by Conscience_Victor on 31/03/2020.
//  Copyright © 2020 IliesZaoui. All rights reserved.
//
 
#ifndef CscServoInterface_h
#define CscServoInterface_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 CscServoInterface {
private:
    inline static CscServoInterface* 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;
    
    char calculateCheckSum(signed char buffer[8]);
    float degToRad(float x);
    float shortestSignedDistanceBetweenTwoAngles(float currentAngle, float targetAngle);
public:
    
    explicit CscServoInterface();
    bool setupSerialStream(FileDesc &fd,const char * portName);
    
    void writePelcoPMessage(int movement, float deltaAngleMotor0, float deltaAngleMotor1);
    void processUnitSample();
    
    int processResultToRs(CscState * state);
    
    bool writeToRs(const char * buffer, unsigned int buf_size);
    
    bool isActivated();
    
    void closeSerial();
    
    virtual ~CscServoInterface();
    
    void updateStatusAndProcessAction();
    void initUpdateStatusAndProcessActionThread();
    void activate(const char* rsPortName);
    void disactivate();
    
    void reachMotorsAngles(float directionValues[2]);
    int updateRequestedMotorsAngles(float motor0Speed, float motor1Speed);
    
    void stopAllMovments();
    
    const char * rsPortName;
    int rsFd;
    
    static CscServoInterface* getInstance() {
        if (instance != NULL ) {
            return instance;
        }
        return (instance = new CscServoInterface());
    }
    
    float getMotoValInPercent(int motorId);
    
    void emergencyStop();
    void writeSerialMessage(int motor, int targetAngleMotor);
};
 
#endif /* CscServoInterface_h */