powerMotor.h

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/* Copyright 2013 - 2016 Yurii Litvinov, Anastasiia Kornilova 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 <QtCore/QObject>
#include <QtCore/QString>
#include <QtCore/QVector>

#include "motorInterface.h"
#include "deviceState.h"

namespace trikKernel {
class Configurer;
}

namespace trikControl {

class MspCommunicatorInterface;

class PowerMotor : public MotorInterface
{
    Q_OBJECT

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

    ~PowerMotor() override;

    Status status() const override;

    int minControl() const override;

    int maxControl() const override;

public slots:
    void setPower(int power, bool constrain = true) override;

    int power() const override;

    void powerOff() override;

    int period() const;

    void setPeriod(int period) override;

    void brake(int durationMs = 500) override;

private:
    void lineariseMotor(const QString &port, const trikKernel::Configurer &configurer);

    MspCommunicatorInterface &mCommunicator;
    int mMspCommandNumber;
    const bool mInvert;
    int mCurrentPower;
    int mCurrentPeriod;
    DeviceState mState;
    QVector<int> mPowerMap;
};

}

Q_DECLARE_METATYPE(trikControl::PowerMotor*)