87 lines
3.7 KiB
C++
87 lines
3.7 KiB
C++
#pragma once
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#include <string>
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#include <vector>
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namespace fgc {
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// Per-axis lifecycle state, from the firmware ST line's state char (B/R/H/A/E).
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enum class AxisState { Boot, Reset, Homing, Ready, Error, Unknown };
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// One axis segment of a firmware `ST` status line:
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// ST Y:<state>,<xactual>,<xenc>,<drv_hex>,<sg>,<cs>,<pwm>,<flags> [P:...]
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// Positions are absolute encoder counts; degrees are derived via Geometry.
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struct AxisTelemetry {
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AxisState state = AxisState::Unknown;
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long xactual = 0; // TMC step counter (commanded position)
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long xenc = 0; // encoder position (actual shaft position)
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unsigned drv_status = 0; // DRV_STATUS register (decoded from the 8-digit hex)
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int sg = 0; // SG_RESULT
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int cs = 0; // CS_ACTUAL
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int pwm = 0; // PWM_SCALE_SUM
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bool standstill = false; // flag 'S' (DRV_STST)
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bool stall = false; // flag 's' (StallGuard) - inert in StealthChop, see below
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// Flag 'd': the TMC's hardware encoder-deviation latch, set when
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// |xactual - xenc| exceeded ENC_DEVIATION. This is the usable stall signal on
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// this rig - StallGuard needs SpreadCycle, which production does not run.
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// Latched until the axis is homed or reset, so it means "position
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// untrustworthy", not "stalling right now".
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bool deviation = false;
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bool overtemp = false; // flag 'o'/'O'
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bool endstop_l = false; // flag 'L'
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bool endstop_r = false; // flag 'R'
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bool moving() const { return state == AxisState::Homing || !standstill; }
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bool ready() const { return state == AxisState::Ready; }
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};
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// Telemetry snapshot from the motor controller: one segment per axis.
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struct MotorTelemetry {
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AxisTelemetry yaw;
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AxisTelemetry pitch;
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bool pitch_present = false; // was a P: segment seen?
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};
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// Abstraction over the gimbal's motor controller. Implemented by
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// SerialMotorController (Boost.Asio serial link) and MockMotorController
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// (simulated, for development without hardware).
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class IMotorController {
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public:
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virtual ~IMotorController() = default;
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// Begin/*end* background telemetry reading.
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virtual void start() = 0;
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virtual void stop() = 0;
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// Send a command line to the controller (e.g. "HOME", "MOVE Y 20000").
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// Implementations append the newline terminator the firmware requires.
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virtual void sendCommand(const std::string& cmd) = 0;
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// Latest telemetry snapshot (thread-safe in implementations).
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virtual MotorTelemetry telemetry() = 0;
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// The most recently completed firmware DUMP block (the text between
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// "DUMP BEGIN" and "DUMP END", inclusive), or "" if none has been captured.
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// Thread-safe in implementations.
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virtual std::string lastDump() = 0;
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// The most recently completed firmware DIAG block (the "DG ..." lines from
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// "DG BEGIN" through "DG DONE"), or "" if none. diagSeq() increments on each
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// completed capture so callers can detect a fresh result. Thread-safe.
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virtual std::string lastDiag() = 0;
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virtual unsigned diagSeq() const = 0;
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// NEED lines the firmware has emitted since they were last taken, one per
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// axis, in arrival order (hardware-config-plan.md section 6). Taking them
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// clears the queue: they are a request to answer once, not a state to poll.
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//
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// Default: none. Only the real controller sees the wire; the mock has no
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// firmware to ask, and a null implementation would have nothing to say.
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virtual std::vector<std::string> takeNeedLines() { return {}; }
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// Whether the underlying link is usable.
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virtual bool connected() const = 0;
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};
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} // namespace fgc
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