encoder.h

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/* Copyright 2013 - 2015 Matvey Bryksin, Yurii Litvinov and CyberTech Labs Ltd.
 * and CyberTech Labs Ltd.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License. */

#pragma once

#include "encoderInterface.h"
#include "deviceState.h"

namespace trikKernel {
class Configurer;
}

namespace trikControl {

class MspCommunicatorInterface;

class Encoder : public EncoderInterface
{
    Q_OBJECT

public:
    Encoder(const QString &port, const trikKernel::Configurer &configurer
            , trikControl::MspCommunicatorInterface &communicator);

    Status status() const override;

public slots:
    int read() override;

    int readRawData() override;

    void reset() override;

private:
    MspCommunicatorInterface &mCommunicator;
    int mI2cCommandNumber;
    int mPassedTicks;
    int mPassedDegrees;
    const bool mInvert;
    DeviceState mState;
};

}