BionxControl/bctransmitter.h

#ifndef BCTRANSMITTER_H
#define BCTRANSMITTER_H

#include <QObject>
#include <QQueue>
#include <QMutex>
#include <atomic>

#include <bcdataitem.h>
#include <bccandrivertinycan.h>

// template ...
class BCTransmitter : public QObject, public BCAbstractTransmitter
{
  Q_OBJECT

public:

  explicit BCTransmitter(QObject *parent = nullptr);

  bcdata_t readRawValue( BCDevice::ID deviceID, BC::ID registerID ) const override;
  void     writeRawValue(BCDevice::ID deviceID, BC::ID registerID, bcdata_t value ) const override;

public slots:

  void onToggleConnectionState( bool connect );
  void enqueueValueOp(BC::OpID opID, const BCDataItem* value );
  void processValueOp(BC::OpID opID);

signals:

  void commandFinished(int id, bool success);
  void messageLogged(const QString& msg);

private:

  using BCDataQueue = QQueue<const BCDataItem*>;

  BCDataQueue _valueQueue;
  QMutex       _mutex;
  std::atomic<bool> _isBusy{ false };

  BCCanDriverTinyCan _canDriver;
};


#endif // BCTRANSMITTER_H