Program Listing for File stepper.hpp

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/*
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#ifndef PHIDGETS_API_STEPPER_HPP
#define PHIDGETS_API_STEPPER_HPP

#include <functional>

#include <libphidget22/phidget22.h>

#include "phidgets_api/phidget22.hpp"

namespace phidgets {

class Stepper final
{
  public:
    PHIDGET22_NO_COPY_NO_MOVE_NO_ASSIGN(Stepper)

    explicit Stepper(
        int32_t serial_number, int hub_port, bool is_hub_port_device,
        int channel,
        std::function<void(int, double)> on_position_change_handler,
        std::function<void(int, double)> on_velocity_change_handler,
        std::function<void(int)> on_stoppped_handler);

    ~Stepper();

    int32_t getSerialNumber() const noexcept;

    PhidgetStepper_ControlMode getControlMode() const;
    void setControlMode(PhidgetStepper_ControlMode controlMode);

    void enableFailsafe(uint32_t failsafeTime);
    void resetFailesafe();
    uint32_t getMinFailsafeTime() const;
    uint32_t getMaxFailsafeTime() const;

    int getIsMoving() const;
    int getEngaged() const;
    void setEngaged(int engaged);

    void addPositionOffset(double offset);
    double getPosition() const;
    double getMinPosition() const;
    double getMaxPosition() const;
    double getTargetPosition() const;
    void setTargetPosition(double position);

    double getVelocity() const;
    double getVelocityLimit() const;
    void setVelocityLimit(double velocity);
    double getMinVelocityLimit() const;
    double getMaxVelocityLimit() const;

    double getAcceleration() const;
    void setAcceleration(double acceleration);

    double getCurrentLimit() const;
    void setCurrentLimit(double current_limit);

    double getHoldingCurrentLimit() const;
    void setHoldingCurrentLimit(double holding_current_limit);

    double getMinAcceleration() const;
    double getMaxAcceleration() const;

    double getMinCurrentLimit() const;
    double getMaxCurrentLimit() const;

    void setRescaleFactor(double factor);
    double getRescaleFactor() const;

    void setDataInterval(uint32_t data_interval_ms);
    uint32_t getDataInterval() const;
    uint32_t getMinDataInterval() const;
    uint32_t getMaxDataInterval() const;

    void setDataRate(double data_rate);
    double getDataRate() const;
    double getMinDataRate() const;
    double getMaxDataRate() const;

  private:
    int32_t serial_number_;
    int channel_;
    PhidgetStepperHandle stepper_handle_{nullptr};
    std::function<void(int, double)> on_position_change_handler_;
    std::function<void(int, double)> on_velocity_change_handler_;
    std::function<void(int)> on_stoppped_handler_;

    void positionChangeHandler(double position);
    void velocityChangeHandler(double velocity);
    void stoppedHandler();

    static void onPositionChangeHandler(PhidgetStepperHandle motor_handle,
                                        void *ctx, double position);
    static void onVelocityChangeHandler(PhidgetStepperHandle motor_handle,
                                        void *ctx, double velocity);
    static void onStoppedHandler(PhidgetStepperHandle motor_handle, void *ctx);
};

}  // namespace phidgets

#endif  // PHIDGETS_API_STEPPER_HPP