32 lines
902 B
C++
32 lines
902 B
C++
#pragma once
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#include "fgc/IMotorController.h"
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#include <memory>
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#include <string>
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namespace fgc {
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// Real motor controller over a serial port (Boost.Asio). Async-reads '$'-
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// prefixed telemetry lines and parses them into MotorTelemetry; writes command
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// strings. Wraps the logic of the old Serial.h SerialPort. Implementation
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// detail (Boost.Asio) is hidden behind a pImpl.
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class SerialMotorController : public IMotorController {
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public:
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SerialMotorController(std::string device, unsigned int baud);
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~SerialMotorController() override;
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void start() override;
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void stop() override;
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void sendCommand(const std::string& cmd) override;
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MotorTelemetry telemetry() override;
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std::string lastDump() override;
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bool connected() const override;
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private:
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struct Impl;
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std::unique_ptr<Impl> impl_;
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};
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} // namespace fgc
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