rangeSensorWorker.h

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/* Copyright 2014 - 2016 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/QScopedPointer>
#include <QReadWriteLock>

#include <trikHal/hardwareAbstractionInterface.h>
#include <trikKernel/timeVal.h>

#include "deviceState.h"

namespace trikControl {

class RangeSensorWorker : public QObject
{
    Q_OBJECT

public:
    RangeSensorWorker(const QString &eventFile, DeviceState &state
            , const trikHal::HardwareAbstractionInterface &hardwareAbstraction);

    ~RangeSensorWorker() override;

signals:
    void newData(int distance, int rawDistance, const trikKernel::TimeVal &eventTime);

public slots:
    void init();

    int read();

    int readRawData();

    void stop();

private slots:
    void onNewEvent(int eventType, int code, int value, const trikKernel::TimeVal &eventTime);

private:
    QScopedPointer<trikHal::EventFileInterface> mEventFile;

    int mDistance = -1;

    int mRawDistance = -1;

    DeviceState &mState;

    const trikHal::HardwareAbstractionInterface &mHardwareAbstraction;

    const QString mEventFileName;

    QReadWriteLock mDistanceLock;
};

}