spi_motor_board.hpp

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#pragma once

#include "blmc_drivers/devices/spi_bus.hpp"
#include "real_time_tools/thread.hpp"
#include "real_time_tools/threadsafe/threadsafe_timeseries.hpp"

#include "blmc_drivers/devices/motor_board.hpp"

namespace blmc_drivers
{

class SpiMotorBoard: public MotorBoardInterface
{

public:
    SpiMotorBoard(std::shared_ptr<SpiBus> spi_bus, const size_t udriver_id);

    ~SpiMotorBoard();

    virtual std::shared_ptr<const MotorInterface::ScalarTimeseries>
    get_measurement(const int& index) const ;

    virtual std::shared_ptr<const MotorBoardInterface::StatusTimeseries>
    get_status() const;

    virtual std::shared_ptr<const MotorInterface::ScalarTimeseries>
    get_control(const int& index) const;

    virtual std::shared_ptr<const MotorBoardInterface::CommandTimeseries>
    get_command() const;

    virtual std::shared_ptr<const MotorInterface::ScalarTimeseries>
    get_sent_control(const int& index) const;

    virtual std::shared_ptr<const MotorBoardInterface::CommandTimeseries>
    get_sent_command() const;

    virtual void set_control(const double& control, const int& index);
    
    virtual void set_command(const MotorBoardCommand& command);

    virtual void send_if_input_changed();

    bool is_ready();

private:
    std::shared_ptr<SpiBus> spi_bus_;

    size_t udriver_id_;
};

}