selectmirror.h

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/* Copyright 2017 Michael Olberg <michael.olberg@chalmers.se> */
#ifndef SELECTMIRROR_H
#define SELECTMIRROR_H

#include <QThread>
#include <QTcpSocket>
#include <QByteArray>
#include <QString>

#include "../GUI/calunit.h"

class SelectMirror : public QThread {
    Q_OBJECT

 public:
    static SelectMirror *instance()
    {
        if (sm_instance == 0) sm_instance = new SelectMirror();
        return sm_instance;
    }

    bool moving() const { return m_moving; }
    float currentAngle() const { return act; }

 public slots:
    void commandedPos(CalUnit::MirrorPosition n);
    void run();

 signals:
    void connected();
    void disconnected();
    void error();
    void newPosition(float pos);

 private:
    static SelectMirror *sm_instance;

    void gotoAngle(float angle);

    float getPosition();

    bool isMoving();

    void resetPosition();

    void sendCmd(const QString &command);
    QString getResponse();
    void dumpBuffer(QByteArray ba) const;
    QTcpSocket *socket;

    float cmd;
    float act;
    bool m_moving;

    int commanded, actual;
    bool stop;
};

#endif  // SELECTMIRROR_H