mks_stepper_controller.hpp

//
// Created by Noah Reeder on 2025-04-22
//
 
#ifndef UMRT_ARM_FIRMWARE_LIB_MKS_STEPPER_CONTROLLER_HPP
#define UMRT_ARM_FIRMWARE_LIB_MKS_STEPPER_CONTROLLER_HPP
 
#include <boost/signals2.hpp>
#include <chrono>
#include <string>
#include <unordered_set>
#include <vector>
 
#include "mks_enums.hpp"
 
// Forward declaring these classes so that ros2_socketcan can be a private dependency
namespace drivers::socketcan {
    class SocketCanReceiver;
    class SocketCanSender;
    class CanId;
} // namespace drivers::socketcan
 
class MksStepperController {
public:
    MksStepperController(
            const std::string& can_interface, std::shared_ptr<const std::unordered_set<uint16_t>> motor_ids,
            const uint8_t norm_factor = 1
    );
 
    ~MksStepperController() noexcept;
 
    bool setSpeed(const uint16_t motor, const int16_t speed, const uint8_t acceleration = 0);
 
    bool sendStep(const uint16_t motor, const uint32_t num_steps, const int16_t speed, const uint8_t acceleration = 0);
 
    bool seekPosition(const uint16_t motor, const int32_t position, const int16_t speed, const uint8_t acceleration = 0);
 
    bool getPosition(const uint16_t motor);
 
    [[nodiscard]] bool isSetup() const;
 
    void update(const std::chrono::nanoseconds& timeout = std::chrono::nanoseconds::zero());
 
    // ==========================
    //           Events
    // ==========================
 
    boost::signals2::signal<void(uint16_t, bool)> ESetSpeed;
 
    boost::signals2::signal<void(uint16_t, MksMoveResponse)> ESendStep;
 
    boost::signals2::signal<void(uint16_t, MksMoveResponse)> ESeekPosition;
 
    boost::signals2::signal<void(uint16_t, int32_t)> EGetPosition;
 
protected:
    void handleCanMessage(const std::vector<uint8_t>& message, drivers::socketcan::CanId& info);
 
    void handleESetSpeed(const std::vector<uint8_t>& message, drivers::socketcan::CanId& info);
 
    void handleESendStep(const std::vector<uint8_t>& message, drivers::socketcan::CanId& info);
 
    void handleESeekPosition(const std::vector<uint8_t>& message, drivers::socketcan::CanId& info);
 
    void handleEGetPosition(const std::vector<unsigned char>& message, drivers::socketcan::CanId& info);
 
    std::unique_ptr<drivers::socketcan::SocketCanReceiver> can_receiver;
    std::unique_ptr<drivers::socketcan::SocketCanSender> can_sender;
    std::shared_ptr<const std::unordered_set<uint16_t>> motor_ids;
    const uint8_t norm_factor;
 
private:
    bool setup_completed;
};
 
#endif //UMRT_ARM_FIRMWARE_LIB_MKS_STEPPER_CONTROLLER_HPP