EncoderAdapter.h

#pragma once

#define GEAR_RATIO ((double) 1/19.0 * 3.0/5.0)

#include "Thread.h"
#include "IHardwareInterface.h"
#include "messages/IMessage.h"
#include <atomic>
#include <list>
#include <chrono>
#include "wiringPiInclude.h"
#include <stdlib.h>
#include <string>
#include "messages/EncoderMessage.h"
#include <mutex>

class EncoderAdapter : public Thread, public IHardwareInterface
{
public:
    EncoderAdapter(int channelA, int channelB, int ticksPerRev, Hardware hardware);
    ~EncoderAdapter() override;
    void* run() override;
    long getCount();
    void resetCount();
    double getSpeedRPM();
    std::list<IMessage*>* read() override;
    void write(IMessage* message) override {};
private:
    int m_channelA;
    int m_channelB;
    int m_channelAState;
    int m_channelBState;
    int m_lastTransition;
    int m_direction;
    int m_ticksPerRevolution;
    double m_revolutionsPerTick;
    std::chrono::high_resolution_clock::time_point m_lastTickTime;
    volatile double m_speed;
    std::mutex m_lock;
    std::atomic<long> m_count;
    Hardware hardware;
};