arduino_communication_test.hpp

//
// Created by Noah on 2024-06-13.
//
 
#ifndef UMRT_ARM_FIRMWARE_LIB_ARDUINO_COMMUNICATION_TEST_HPP
#define UMRT_ARM_FIRMWARE_LIB_ARDUINO_COMMUNICATION_TEST_HPP
 
#include "arduino_stepper_controller.hpp"
#include "utils.hpp"
#include <string>
#include <thread>
 
#include <vector>
 
// TODO: Could use some docs, would be nice if we could get some sample output
class ArduinoCommunicationTest {
public:
    ArduinoCommunicationTest(const std::string& device, const int baud, const std::vector<uint8_t>& motor_ids);
 
    void update();
 
    void sendTestRoutine();
 
protected:
    ArduinoStepperController s;
    std::thread test_thread;
    const std::vector<uint8_t> motor_ids;
 
    void onSetup();
 
    void onString(const std::string& str);
 
    void onEcho(const std::vector<uint8_t>& payload);
 
    void onEchoText(const std::vector<uint8_t>& payload);
 
    void onEchoInt32(const std::vector<uint8_t>& payload);
 
    void onEchoRaw(const std::vector<uint8_t>& payload);
 
    void onSetSpeed(const uint8_t motor, const int16_t speed);
 
    void onGetSpeed(const uint8_t motor, const int16_t speed);
 
    void onSendStep(const uint8_t motor, const uint16_t steps, const int16_t speed);
 
    void onSeekPosition(const uint8_t motor, const int32_t position, const int16_t speed);
 
    void onGetPosition(const uint8_t motor, const int32_t position);
 
private:
    std::function<void(const std::vector<uint8_t>&)> processPayload;
};
 
 
#endif //UMRT_ARM_FIRMWARE_LIB_ARDUINO_COMMUNICATION_TEST_HPP