CanAnalog.h

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/*
 * CanAnalog.h
 *
 *  Created on: 06.04.2022
 *      Author: Yannick
 */
 
#ifndef USEREXTENSIONS_SRC_CanAnalog_H_
#define USEREXTENSIONS_SRC_CanAnalog_H_
 
#include "constants.h"
#ifdef CANANALOG
 
#include "AnalogSource.h"
#include "PersistentStorage.h"
#include "CAN.h"
#include "CanHandler.h"
#include "CommandHandler.h"
#include "cpp_target_config.h"
 
 
class CanAnalogBase : public AnalogSource, public CanHandler, public CommandHandler{
public:
    enum class CanAnalog_commands : uint32_t {
        canid,amount,maxAmount
    };
 
    CanAnalogBase(uint8_t maxAxes = 8);
    virtual ~CanAnalogBase();
 
    const ClassIdentifier getInfo();
    static ClassIdentifier info;
 
    void restoreFlash();
    void saveFlash();
 
    std::string getHelpstring(){return "4 16b axes per 64b packet";}
 
 
    void setupCanPort();
    void setAxisNum(uint8_t num);
 
    CommandStatus command(const ParsedCommand& cmd,std::vector<CommandReply>& replies);
 
    void canRxPendCallback(CANPort* port,CAN_rx_msg& msg) override;
 
private:
    uint32_t canId = 110;
    int32_t filterId = -1;
    CANPort* port = &canport;
    uint8_t axes = 1;
    const uint8_t maxAxes;
    uint8_t packets = 1;
};

template<uint8_t AMOUNT>
class CanAnalog : public CanAnalogBase
{
public:
    CanAnalog() : CanAnalogBase(AMOUNT){}
    ~CanAnalog(){}
};
 
 
#endif
#endif /* USEREXTENSIONS_SRC_CanAnalog_H_ */