arduino_stepper_controller.hpp

//
// Created by Noah Reeder on 2024-05-30
// Based off of ArduinoTest from openFrameworksArduino (https://github.com/NeuroRoboticTech/openFrameworksArduino/blob/master/examples/ArduinoTest.h)
//
 
#ifndef UMRT_ARM_FIRMWARE_LIB_ARDUINO_STEPPER_CONTROLLER_HPP
#define UMRT_ARM_FIRMWARE_LIB_ARDUINO_STEPPER_CONTROLLER_HPP
 
#include <boost/signals2.hpp>
#include <openFrameworksArduino/StdAfx.h>
#include <openFrameworksArduino/ofArduino.h>
#include <vector>
 
class ArduinoStepperController : public ofArduino {
public:
    ArduinoStepperController();
 
    ~ArduinoStepperController() noexcept override;
 
    bool sendEcho(const std::vector<uint8_t>& payload);
 
    bool setSpeed(const uint8_t motor, const int16_t speed);
 
    // TODO: Would be nice to include timestamp in response since it is asynchronous
    bool getSpeed(const uint8_t motor);
 
    bool sendStep(const uint8_t motor, const uint16_t num_steps, const int16_t speed);
 
    bool seekPosition(const uint8_t motor, const int32_t position, const int16_t speed);
 
    bool getPosition(const uint8_t motor);
 
    bool setGripper(const uint8_t position);
 
    [[nodiscard]] bool isSetup() const;
 
    // ==========================
    //           Events
    // ==========================
 
    boost::signals2::signal<void(void)> ESetup;
 
    boost::signals2::signal<void(std::vector<uint8_t>)> EArduinoEcho;
 
    boost::signals2::signal<void(uint8_t, int16_t)> ESetSpeed;
 
    boost::signals2::signal<void(uint8_t, int16_t)> EGetSpeed;
 
    boost::signals2::signal<void(uint8_t, uint16_t, int16_t)> ESendStep;
 
    boost::signals2::signal<void(uint8_t, int32_t, int16_t)> ESeekPosition;
 
    boost::signals2::signal<void(uint8_t, int32_t)> EGetPosition;
 
    boost::signals2::signal<void(uint8_t)> ESetGripper;
 
protected:
    boost::signals2::connection connectionInitialized;
 
    void setupArduino(const int& version);
 
    // Note that using extended command IDs (i.e. command byte 0x00 followed by a 2 byte command ID) yields undefined behaviour
    // TODO: We therefore shouldn't be using 0x00 for ARDUINO_ECHO
    void handleSysex(const std::vector<unsigned char>& message);
 
    void handleEArduinoEcho(const std::vector<unsigned char>& message);
 
    void handleESetSpeed(const std::vector<unsigned char>& message);
 
    void handleEGetSpeed(const std::vector<unsigned char>& message);
 
    void handleESendStep(const std::vector<unsigned char>& message);
 
    void handleESeekPosition(const std::vector<unsigned char>& message);
 
    void handleEGetPosition(const std::vector<unsigned char>& message);
 
    void handleESetGripper(const std::vector<unsigned char>& message);
 
private:
    bool setup_completed;
};
 
#endif //UMRT_ARM_FIRMWARE_LIB_ARDUINO_STEPPER_CONTROLLER_HPP