AxesManager.h

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/*
 * AxesManager.h
 *
 *  Created on: 30.01.2021
 *      Author: Jon Lidgard
 */
 
#ifndef AXESMANAGER_H_
#define AXESMANAGER_H_
#include "Axis.h"
//#include "PersistentStorage.h"
#include "ffb_defs.h"
 
#include "CmdParser.h"
#include "vector"
#include "map"
#include <memory>
 
class EffectsCalculator;
 
 
class AxesManager
{
public:
    AxesManager(volatile Control_t* control,std::shared_ptr<EffectsCalculator> calc);
    virtual ~AxesManager();
 
//  static ClassIdentifier info;
//  const ClassIdentifier getInfo();
 
//  void setEffectsCalculator(EffectsCalculator *ec);
//  void saveFlash();
//  void restoreFlash();
 
    uint8_t getAxisCount();
    bool setAxisCount(int8_t count);
    bool validAxisRange(uint8_t val);
 
    void usbResume();
    void usbSuspend();
 
    void update();
    void updateTorque();
 
    std::vector<int32_t>* getAxisValues();
 
    void emergencyStop(bool reset);
    void resetPosZero();
 
private:
    volatile Control_t* control;
    volatile bool *p_usb_disabled;
    volatile bool *p_emergency;
    std::shared_ptr<EffectsCalculator> effects_calc;
    uint16_t axis_count = 0;
    std::vector<std::unique_ptr<Axis>> axes;
    std::vector<int32_t> axisValues = std::vector<int32_t>(1,0);
 
    void deleteAxes();
};
 
#endif /* AXESMANAGER_H_ */