motorDriver.h

#ifndef MOTOR_DRIVER_H
#define MOTOR_DRIVER_H
 
#include <iostream>
#include <stdlib.h>
#include <thread>
 
#include <wiringSerial.h>
#include <unistd.h>
 
#include <condition_variable>
#include <mutex>
#include <chrono>
using namespace std::chrono_literals;
 
 
// class MotorCallback {
// public:
//     virtual void returnPosition(int x, int y, int z) = 0;
// };
 
 
class MotorDriver {
 
public:
    MotorDriver() = default;     // constructor
 
    // void registerCallback(MotorCallback* cb);
 
    //void start(std::string device = "/dev/ttyUSB0", int baud = 115200);
    void start(const char* device = "/dev/ttyUSB0", int baud = 115200);
    void stop();
 
    int* getPosition();
    bool getRunning();
    bool getConnected();
 
    void mov(char axis, int inc);
 
 
private:
 
    //void movThread();
 
    void run();
 
    void resetToZero();
    void updatePosition();
 
    // MotorCallback* motorCb = nullptr;
    bool enabled = false;       // motor thread enable
    bool connected = false;     // motor board connection established
 
    int fd = 0;
    int positionArray[3] = {0, 0, 0}; 
    int bytesToRead;
 
    char commandAxis;
    int commandInc;
 
    bool running = false;       // indicates motors currently moving
    bool update = false;        // indicates new move to make
    
    std::thread motorThread;
 
    std::mutex mut;
    std::condition_variable cond_var;
 
    char firmwareVer[26];
    char dataRead[30];
 
 
};
 
 
// class MotorPrintCallback : public MotorCallback {
//     virtual void returnPosition(int x, int y, int z){
//         std::cout << "Motor current position:  " << "x: " << x << "  y: " << y << "  z: " << z << std::endl;
//     }
// };
 
 
#endif //MOTOR_DRIVER_H