From 4e344e5f9bd4521e20ef3723e6a13a42d8302afe Mon Sep 17 00:00:00 2001
From: Maximilian Stiefel <stiefel.maximilian@online.de>
Date: Wed, 17 Feb 2021 21:50:18 +0100
Subject: [PATCH] Stepper class structure halfway there

---
 hal/stepper.cpp   | 55 ++++++++++++++++++++---------------------------
 include/stepper.h |  4 +++-
 2 files changed, 26 insertions(+), 33 deletions(-)

diff --git a/hal/stepper.cpp b/hal/stepper.cpp
index c717d35..fbd93b8 100644
--- a/hal/stepper.cpp
+++ b/hal/stepper.cpp
@@ -7,47 +7,42 @@
 namespace simon {
   namespace stepper {
     c_stepper::c_stepper(const std::string& axis)
-/*      : m_a4988
-      {
-        .gpio_en = 17,
-        .gpio_step = 18,
-        .gpio_dir = 22,
-        .gpio_microsteps{
-          true, true, true
-      },
-      m_stepper
-      {
-        .gear_reduction = 64.0f,
-        .steps_per_revolution = 32.0f
-      }
-*/
     {
-      auto j_set = json::parse(read_file("settings.json"));
-      a4988::a4988_settings_t a4988_set = {0};
+      auto file_content = read_file("settings.json");
+      auto j_set = json::parse(file_content);
       if (!j_set["axis_configurations"].is_array()) {
         std::cout << "Expected an array in the configuration below \"axis_configurations\"." << "\n";
         // TODO: Throw exception
       }
+      extract_settings(j_set, axis);
+      m_thread = std::thread(std::bind(&a4988::c_allegro_4988::run, &(*m_ptr_a4988)));
+      m_ptr_a4988->post_move(32768, true, 100);
+      m_ptr_a4988->kill();
+      m_thread.join();
+    }
+
+    void c_stepper::extract_settings(const json& j_set, const std::string& axis)
+    {
       int ind = 0;
-      for (auto& j_axis_conf : j_set["axis_configurations"]) {
+      for (const auto& j_axis_conf : j_set["axis_configurations"]) {
         ind++;
         if (j_axis_conf["id"].is_string()) {
           if (j_axis_conf["id"] == axis) {
-            a4988::a4988_settings_t a = {
-              // TODO: Do more sanizing before retrieving this data
-              .gpio_en = j_axis_conf["a4988"]["gpio_en"],
-              .gpio_step = j_axis_conf["a4988"]["gpio_step"],
-              .gpio_dir = j_axis_conf["a4988"]["gpio_dir"],
-              .gpio_microsteps = j_axis_conf["a4988"]["microsteps"]
-            };
-            auto a_ptr = std::make_unique<a4988::a4988_settings_t>(a);
+            auto a_ptr = std::make_unique<a4988::a4988_settings_t>(
+              a4988::a4988_settings_t ({
+                // TODO: Do more sanitizing before retrieving this data
+                .gpio_en = j_axis_conf["a4988"]["gpio_en"],
+                .gpio_step = j_axis_conf["a4988"]["gpio_step"],
+                .gpio_dir = j_axis_conf["a4988"]["gpio_dir"],
+                .gpio_microsteps = j_axis_conf["a4988"]["microsteps"]
+              })
+            );
             m_ptr_a4988 = std::make_unique<a4988::c_allegro_4988>(std::move(a_ptr));
-            settings_t s = {
-               // TODO: Do more sanizing before retrieving this data
+            m_stepper = {
+               // TODO: Do more sanitizing before retrieving this data
               .gear_reduction = j_axis_conf["stepper"]["gear_reduction"],
               .steps_per_revolution = j_axis_conf["stepper"]["steps_per_revolution"]
             };
-            m_stepper = s;
             break;
           }
         } else {
@@ -55,10 +50,6 @@ namespace simon {
           std::cerr << "Expected a string in the configuration below [\"axis_configurations\"][" << ind << "][\"id\"]\n";
         }
       }
-      std::thread t1(std::bind(&a4988::c_allegro_4988::run, &(*m_ptr_a4988)));
-      m_ptr_a4988->post_move(32768, true, 100);
-      m_ptr_a4988->kill();
-      t1.join();
     }
 
     std::string c_stepper::read_file(const std::string& fname) const
diff --git a/include/stepper.h b/include/stepper.h
index 3340d12..007705e 100644
--- a/include/stepper.h
+++ b/include/stepper.h
@@ -3,6 +3,7 @@
 
 #include <include/a4988.h>
 #include <lib/json.hpp>
+#include <thread>
 
 namespace simon {
   namespace stepper {
@@ -21,10 +22,11 @@ namespace simon {
       private:
         settings_t m_stepper;
         std::unique_ptr<a4988::c_allegro_4988> m_ptr_a4988;
+        std::thread m_thread;
       private:
         std::string read_file(const std::string& fname) const;
+        void extract_settings(const json& j_set, const std::string& axis);
     };
-
   } // namespace stepper
 } // namespace simon