Actuator.cpp

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//
// Created by noeel on 22-10-20.
//

#include <aruna/movement/Actuator.h>

using namespace aruna;
using namespace aruna::movement;

// TODO find a nice way to set speed to zero on destrion without calling a virtual function from destructor.

Actuator::Actuator(axis_mask_t axis) : axis(axis){

}

axis_mask_t Actuator::get_axis() {
    return axis;
}

err_t Actuator::set(axis_mask_t axisMask, int16_t speed) {
    err_t err = err_t::OK;
//    TODO check direction via axisMask with(uint8_t) axisMask & (uint8_t) axis_mask_t::DIRECTION_BOTH & (uint8_t) axis
//    or check direction with the speed value, of just leave direction check to implementation.
    if ((uint8_t) axisMask & (uint8_t) axis_mask_t::ALL_AXIS & (uint8_t) axis) {

        err = _set(axisMask, speed);
        if (err == err_t::OK)
            this->speed = speed;
    }
//    TODO return not avaliable error?
    return err;
}

uint16_t Actuator::get_speed() {
//    TODO speed should be axis indipendent.
    return speed;
}


err_t Actuator::set_axis(axis_mask_t new_axis) {
    axis = new_axis;
    return err_t::OK;
}

// TODO constexpr?
double Actuator::convert_range(uint16_t input, float range_max, float range_min) {
//      TODO allow for other type then uint_16 (maybe use <template>? and sizeof()?)
    return ((input * (range_max - range_min)) / 65535) + range_min;
}

Actuator::~Actuator() {

}