RBControl_encoder.hpp

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#pragma once
 
#include <atomic>
#include <functional>
 
#include <driver/gpio.h>
#include <driver/pcnt.h>
 
#include "RBControl_pinout.hpp"
#include "RBControl_util.hpp"
 
namespace rb {
 
class Encoder;
class Manager;
 
class Encoder {
    friend class Manager;
    friend class Motor;
 
public:
    ~Encoder();
 
    void driveToValue(int32_t positionAbsolute, uint8_t power, std::function<void(Encoder&)> callback = nullptr);
    void drive(int32_t positionRelative, uint8_t power, std::function<void(Encoder&)> callback = nullptr);
 
    int32_t value();
 
    float speed();
 
private:
    Encoder(Manager& man, MotorId id);
    Encoder(const Encoder&) = delete;
 
    static void IRAM_ATTR isrGpio(void* cookie);
 
    void install();
 
    void onEdgeIsr(int64_t timestamp, uint8_t pinLevel);
    void onPcntIsr(uint32_t status);
 
    void pcnt_init(pcnt_unit_t pcntUnit, gpio_num_t GPIO_A, gpio_num_t GPIO_B);
 
    Manager& m_manager;
    MotorId m_id;
 
    std::atomic<int32_t> m_counter;
 
    std::mutex m_time_mutex;
    int64_t m_counter_time_us_last;
    int64_t m_counter_time_us_diff;
    int32_t m_target;
    int8_t m_target_direction;
    std::function<void(Encoder&)> m_target_callback;
};
 
class PcntInterruptHandler {
public:
    static PcntInterruptHandler& get(Manager* manager);
 
    void enable(int index);
 
private:
    PcntInterruptHandler(Manager* manager);
    ~PcntInterruptHandler();
    static void IRAM_ATTR isrHandler(void* cookie);
};
 
} // namespace rb