Implemented all features for now

hal/stepper.cpp

@@ -17,13 +17,13 @@ namespace simon {
         // TODO: Throw exception
       }
       extract_settings(j_set, axis);
-      m_thread = std::thread(std::bind(&a4988::c_allegro_4988::run, &(*m_ptr_a4988)));
-      for (int i=0; i<10; i++) {
-        rotate(90);
-        rotate(-90);
+      m_driver_thread = std::thread(std::bind(&a4988::c_allegro_4988::run, &(*m_ptr_a4988)));
     }
+
+    c_stepper::~c_stepper()
+    {
       m_ptr_a4988->kill();
-      m_thread.join();
+      m_driver_thread.join();
     }
 
     void c_stepper::extract_settings(const json& j_set, const std::string& axis)

include/stepper.h

@@ -20,11 +20,12 @@ namespace simon {
     {
       public:
         c_stepper(const std::string& axis, const std::string& fname);
+        ~c_stepper();
         float rotate(const float& degrees);
       private:
         settings_t m_stepper;
         std::unique_ptr<a4988::c_allegro_4988> m_ptr_a4988;
-        std::thread m_thread;
+        std::thread m_driver_thread;
       private:
         std::string read_file(const std::string& fname) const;
         void extract_settings(const json& j_set, const std::string& axis);

main.cpp

@@ -1,28 +1,38 @@
 #include <iostream>
 #include <include/stepper.h>
 #include <boost/program_options.hpp>
+
 int main(int argc, char *argv[])
 {
   using namespace simon;
   namespace po = boost::program_options;
-  po::options_description desc("Allowed options");
+  po::options_description desc("This small program allows to control SMcam. Allowed options");
   desc.add_options()
-      ("help", "produce help message")
-      ("compression", po::value<int>(), "set compression level");
+      ("help", "Produce help message")
+      ("axis", po::value<std::string>(), "Name of the axis to rotate")
+      ("settings", po::value<std::string>(), "Settings file name")
+      ("rotate", po::value<int>(), "Rotation in degrees. Positive means clockwise.");
   po::variables_map vm;
   po::store(po::parse_command_line(argc, argv, desc), vm);
   po::notify(vm);
   if (vm.count("help")) {
     std::cout << desc << "\n";
-      return 1;
+      return EXIT_FAILURE;
+  }
+  stepper::c_stepper* ptr_stepper = nullptr;
+  if (vm.count("axis") && vm.count("settings")) {
+    auto axis = vm["axis"].as<std::string>();
+    auto fname_settings = vm["settings"].as<std::string>();
+    ptr_stepper = new stepper::c_stepper(axis, fname_settings);
+    if (vm.count("rotate")) {
+      auto degrees = vm["rotate"].as<int>();
+      ptr_stepper->rotate(degrees);
     }
-  if (vm.count("compression")) {
-    std::cout << "Compression level was set to "
-   << vm["compression"].as<int>() << ".\n";
   } else {
-    std::cout << "Compression level was not set.\n";
+    std::cerr << "Please specify axis and settings file.\n";
+    return EXIT_FAILURE;
   }
-  stepper::c_stepper("azimuth", "settings.json");
-  std::cout << "Hello camera :*" << std::endl;
-  return 0;
+  if (ptr_stepper != nullptr)
+    delete ptr_stepper;
+  return EXIT_SUCCESS;
 }

settings.json

@@ -12,7 +12,7 @@
         "gpio_en": 17,
         "gpio_step": 18
       },
-      "id": "azimuth"
+      "id": "elevation"
     }
   ]
 }