Integrated lazy settings reading from file

drivers/a4988.cpp

@@ -10,8 +10,8 @@
 
 namespace simon {
   namespace a4988 {
-  c_allegro_4988::c_allegro_4988(a4988_settings_t* pset)
-    : m_pset(pset), m_initialized(false), m_alive(true)
+  c_allegro_4988::c_allegro_4988(std::unique_ptr<a4988_settings_t> ptr_set)
+    : m_ptr_set(std::move(ptr_set)), m_initialized(false), m_alive(true)
   {
 
   }
@@ -31,16 +31,16 @@ namespace simon {
           if (!set_pwm_freq(std::round(1e6/move->period_us))) {
             // TODO: proper error handling
           }
-          gpioHardwarePWM(m_pset->gpio_step, m_pwm_freq, PI_HW_PWM_RANGE/2);
-          gpioWrite(m_pset->gpio_dir, move->dir);
+          gpioHardwarePWM(m_ptr_set->gpio_step, m_pwm_freq, PI_HW_PWM_RANGE/2);
+          gpioWrite(m_ptr_set->gpio_dir, move->dir);
           std::cout << move->period_us << " - " << move->steps << std::endl;
           auto t_sleep = move->period_us*move->steps;
           std::this_thread::sleep_for(std::chrono::microseconds(t_sleep));
-          gpioHardwarePWM(m_pset->gpio_step, m_pwm_freq, 0);
+          gpioHardwarePWM(m_ptr_set->gpio_step, m_pwm_freq, 0);
         }
         else if (*cmd == "enable") {
           auto enable = std::static_pointer_cast<c_enable>(cmd);
-          gpioWrite(m_pset->gpio_en, enable->enabled);
+          gpioWrite(m_ptr_set->gpio_en, enable->enabled);
         }
         else if (*cmd == "kill") {
           m_alive = false;
@@ -70,7 +70,7 @@ namespace simon {
   void c_allegro_4988::initialize(void)
   {
     // TODO: proper error management throwing exceptions
-    if(m_pset == nullptr) {
+    if(m_ptr_set == nullptr) {
       return;
     }
     // Configure clock source for PWM
@@ -78,14 +78,14 @@ namespace simon {
     // Initialize pigpio library
     gpioInitialise();
     // Configure as outputs
-    gpioSetMode(m_pset->gpio_en, PI_OUTPUT);
-    gpioSetMode(m_pset->gpio_dir, PI_OUTPUT);
+    gpioSetMode(m_ptr_set->gpio_en, PI_OUTPUT);
+    gpioSetMode(m_ptr_set->gpio_dir, PI_OUTPUT);
     // Initialize outputs
     enable();
-    gpioWrite(m_pset->gpio_dir, 0);
+    gpioWrite(m_ptr_set->gpio_dir, 0);
     // Set PWM to 0
     m_pwm_freq = 1000;
-    gpioHardwarePWM(m_pset->gpio_step, m_pwm_freq, 0);
+    gpioHardwarePWM(m_ptr_set->gpio_step, m_pwm_freq, 0);
     m_initialized = true;
   }
   int c_allegro_4988::enable(void)

hal/stepper.cpp

@@ -1,11 +1,12 @@
-#include<include/stepper.h>
+#include <include/stepper.h>
 #include <thread>
 #include <functional>
+#include <iostream>
+#include <fstream>
 
 namespace simon {
   namespace stepper {
     c_stepper::c_stepper(const std::string& axis)
-      : m_a4988(&m_a4988_set)
 /*      : m_a4988
       {
         .gpio_en = 17,
@@ -21,10 +22,52 @@ namespace simon {
       }
 */
     {
-      std::thread t1(std::bind(&a4988::c_allegro_4988::run, &m_a4988));
-      m_a4988.post_move(32768, true, 100);
-      m_a4988.kill();
+      auto j_set = json::parse(read_file("settings.json"));
+      a4988::a4988_settings_t a4988_set = {0};
+      if (!j_set["motors"].is_array()) {
+        std::cout << "Expected an array in the configuration below \"motors\"." << "\n";
+        // TODO: Throw exception
+      }
+      int ind = 0;
+      for (auto& motor : j_set["motors"]) {
+        ind++;
+        if (motor["id"].is_string()) {
+          if (motor["id"] == axis) {
+            a4988::a4988_settings_t a = {
+              // TODO: Do more sanizing before retrieving this data
+              .gpio_en = motor["a4988"]["gpio_en"],
+              .gpio_step = motor["a4988"]["gpio_step"],
+              .gpio_dir = motor["a4988"]["gpio_dir"],
+              .gpio_microsteps = motor["a4988"]["microsteps"]
+            };
+            auto a_ptr = std::make_unique<a4988::a4988_settings_t>(a);
+            m_ptr_a4988 = std::make_unique<a4988::c_allegro_4988>(std::move(a_ptr));
+            break;
+          }
+        } else {
+          // TODO:Throw exception
+          std::cerr << "Expected a string in the configuration below [\"motors\"][" << 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
+    {
+      std::ifstream input_stream(fname);
+      if (!input_stream) {
+        // TODO: Throw exception here
+        std::cerr << "Can't open input file!";
+      }
+      std::string line;
+      std::string jstring;
+      while (getline(input_stream, line)) {
+          jstring += line;
+      }
+      return jstring;
+    }
   }
 }

include/a4988.h

@@ -16,7 +16,7 @@ namespace simon {
         const unsigned gpio_en;
         const unsigned gpio_step;
         const unsigned gpio_dir;
-        const bool gpio_microsteps[3];
+        const unsigned gpio_microsteps;
       } a4988_settings_t;
 
     class c_cmd
@@ -60,7 +60,7 @@ namespace simon {
     class c_allegro_4988
     {
       public:
-        explicit c_allegro_4988(a4988_settings_t* set);
+        explicit c_allegro_4988(std::unique_ptr<a4988_settings_t> ptr_set);
         int enable(void);
         int disable(void);
         void kill(void);
@@ -69,7 +69,7 @@ namespace simon {
                        const unsigned period_us);
         void run(void);
       private:
-        a4988_settings_t* m_pset;
+        std::unique_ptr<a4988_settings_t> m_ptr_set;
         bool m_initialized;
         std::queue<std::shared_ptr<c_cmd>> m_queue;
         unsigned m_pwm_freq;

include/stepper.h

@@ -2,10 +2,13 @@
 #define INCLUDED_HAL_STEPPER
 
 #include <include/a4988.h>
+#include <lib/json.hpp>
 
 namespace simon {
   namespace stepper {
 
+    using json = nlohmann::json;
+
     typedef struct {
       float gear_reduction;
       float steps_per_revolution;
@@ -17,15 +20,9 @@ namespace simon {
         c_stepper(const std::string& axis);
       private:
         settings_t m_stepper;
-        a4988::c_allegro_4988 m_a4988;
-        a4988::a4988_settings_t m_a4988_set = {
-          .gpio_en = 17,
-          .gpio_step = 18,
-          .gpio_dir = 22,
-          .gpio_microsteps{
-            true, true, true
-          }
-        };
+        std::unique_ptr<a4988::c_allegro_4988> m_ptr_a4988;
+      private:
+        std::string read_file(const std::string& fname) const;
     };
 
   } // namespace stepper

settings.json

@@ -2,16 +2,16 @@
   "motors": [
     {
       "stepper": {
-        "gear_reduction": 64.0, 
+        "gear_reduction": 64.0,
         "steps_per_revolution": 32
-      }, 
-      "ad4988": {
-        "microsteps": 16, 
-        "gpio_dir": 18, 
-        "gpio_en": 17, 
-        "gpio_step": 22
-      }, 
+      },
+      "a4988": {
+        "microsteps": 16,
+        "gpio_dir": 22,
+        "gpio_en": 17,
+        "gpio_step": 18
+      },
       "id": "azimuth"
     }
   ]
-}
+}