As5047uHandler.h

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#ifndef COMPONENT_HANDLER_AS5047U_HANDLER_H_
#define COMPONENT_HANDLER_AS5047U_HANDLER_H_
 
#include <cstdint>
#include <memory>
#include <type_traits>
#include <utility>
#include "core/hf-core-drivers/external/hf-as5047u-driver/inc/as5047u.hpp"
#include "base/BaseSpi.h"
#include "RtosMutex.h"
 
//======================================================//
// AS5047U SPI BRIDGE ADAPTER
//======================================================//
 
class As5047uSpiAdapter : public as5047u::SpiInterface<As5047uSpiAdapter> {
public:
    explicit As5047uSpiAdapter(BaseSpi& spi_interface) noexcept;
 
    bool transfer(const uint8_t* tx, uint8_t* rx, std::size_t len) noexcept;
 
private:
    BaseSpi& spi_interface_;
};
 
//======================================================//
// AS5047U SENSOR DATA STRUCTURES
//======================================================//
 
struct As5047uMeasurement {
    uint16_t angle_raw;              
    uint16_t angle_compensated;      
    int16_t velocity_raw;            
    float velocity_deg_per_sec;      
    float velocity_rad_per_sec;      
    float velocity_rpm;              
    uint8_t agc_value;               
    uint16_t magnitude;              
    uint16_t error_flags;            
    bool valid;                      
};
 
struct As5047uDiagnostics {
    bool magnetic_field_ok;          
    bool agc_warning;                
    bool cordic_overflow;            
    bool offset_compensation_ok;     
    bool communication_ok;           
    uint16_t last_error_flags;       
    uint32_t communication_errors;   
    uint32_t total_measurements;     
};
 
struct As5047uConfig {
    FrameFormat frame_format;        
    uint8_t crc_retries;             
    bool enable_daec;                
    bool enable_adaptive_filter;     
    uint16_t zero_position;          
    bool enable_abi_output;          
    bool enable_uvw_output;          
    bool enable_pwm_output;          
    uint8_t abi_resolution_bits;     
    uint8_t uvw_pole_pairs;          
    bool high_temperature_mode;      
};
 
//======================================================//
// AS5047U HANDLER CLASS
//======================================================//
 
class As5047uHandler {
public:
    //======================================================//
    // CONSTRUCTION AND LIFECYCLE
    //======================================================//
 
    explicit As5047uHandler(BaseSpi& spi_interface, 
                           const As5047uConfig& config = GetDefaultConfig()) noexcept;
 
    ~As5047uHandler() noexcept = default;
 
    // Disable copy construction and assignment
    As5047uHandler(const As5047uHandler&) = delete;
    As5047uHandler& operator=(const As5047uHandler&) = delete;
 
    // Non-movable (holds mutex, unique_ptrs, and raw bus pointer)
    As5047uHandler(As5047uHandler&&) = delete;
    As5047uHandler& operator=(As5047uHandler&&) = delete;
 
    //======================================================//
    // INITIALIZATION AND STATUS
    //======================================================//
 
    bool Initialize() noexcept;
 
    bool EnsureInitialized() noexcept;
 
    bool Deinitialize() noexcept;
 
    bool IsInitialized() const noexcept;
 
    bool IsSensorReady() const noexcept;
 
    as5047u::AS5047U<As5047uSpiAdapter>* GetSensor() noexcept;
 
    as5047u::AS5047U<As5047uSpiAdapter>* GetDriver() noexcept;
    const as5047u::AS5047U<As5047uSpiAdapter>* GetDriver() const noexcept;
 
    template <typename Fn>
    auto visitDriver(Fn&& fn) noexcept -> decltype(fn(std::declval<as5047u::AS5047U<As5047uSpiAdapter>&>())) {
        using ReturnType = decltype(fn(std::declval<as5047u::AS5047U<As5047uSpiAdapter>&>()));
        MutexLockGuard lock(handler_mutex_);
        if (!EnsureInitializedLocked() || !as5047u_sensor_) {
            if constexpr (std::is_void_v<ReturnType>) {
                return;
            } else {
                return ReturnType{};
            }
        }
        return fn(*as5047u_sensor_);
    }
 
    //======================================================//
    // UTILITY METHODS
    //======================================================//
 
    static As5047uConfig GetDefaultConfig() noexcept;
 
    const char* GetDescription() const noexcept;
 
    AS5047U_Error GetLastError() const noexcept;
 
    As5047uDiagnostics GetDiagnostics() const noexcept;
 
    bool RefreshDiagnostics() noexcept;
    
    void DumpDiagnostics() const noexcept;
 
private:
    //======================================================//
    // PRIVATE MEMBERS
    //======================================================//
 
    BaseSpi& spi_ref_;                               
    std::unique_ptr<As5047uSpiAdapter> spi_adapter_; 
    std::unique_ptr<as5047u::AS5047U<As5047uSpiAdapter>> as5047u_sensor_; 
    As5047uConfig config_;                           
    mutable RtosMutex handler_mutex_;                
    bool initialized_;                               
    mutable AS5047U_Error last_error_;               
    mutable As5047uDiagnostics diagnostics_;         
    char description_[64];                           
 
    //======================================================//
    // PRIVATE HELPER METHODS
    //======================================================//
 
    bool ValidateSensor() noexcept;
 
    bool EnsureInitializedLocked() noexcept;
 
    void HandleSensorErrors(uint16_t sensor_errors) noexcept;
 
    void UpdateDiagnostics() noexcept;
 
    bool ApplyConfiguration(const As5047uConfig& config) noexcept;
};
 
//======================================================//
// FACTORY METHODS
//======================================================//
 
std::unique_ptr<As5047uHandler> CreateAs5047uHandler(
    BaseSpi& spi_interface,
    const As5047uConfig& config = As5047uHandler::GetDefaultConfig()) noexcept;
 
#endif // COMPONENT_HANDLER_AS5047U_HANDLER_H_