Program Listing for File BlackBox_Lock.hpp

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#pragma once

#include "library/BlackBox_pinout.hpp"
#include "driver/gpio.h"
#include "driver/ledc.h"
#include <mutex>

namespace BlackBox {
class Lock {
private:
    const char* m_tag = "Lock";

    bool m_isLocked;

    static constexpr int s_locked = 1;

    mutable std::recursive_mutex m_mutex;

    gpio_num_t m_motor;
    gpio_num_t m_encoderA;
    gpio_num_t m_encoderB;

    ledc_timer_config_t m_timerConfig;
    ledc_channel_config_t m_channelConfig;

    gpio_config_t m_encoderConfig;

    void drive(bool locked, int duty = 0b110); // FIXME: test maximum reliable speed and use it

    void readState();

public:
    ~Lock() = default;

    Lock(gpio_num_t motor = Pins::Lock::Motor,
        gpio_num_t encoderA = Pins::Lock::A,
        gpio_num_t encoderB = Pins::Lock::B,
        ledc_timer_t timer = LEDC_TIMER_0,
        ledc_channel_t channel = LEDC_CHANNEL_0);

    void init();

    void lock();

    void unlock();

    bool locked();
};
} // namespace BlackBox