/*
 * ResolverSerialPortAdapter.hpp
 *
 *  Created on: 30 ÿíâ. 2020 ã.
 *      Author: user
 */

#ifndef UMLIBRARY_DRIVER_RESOLVERSERIALPORTADAPTER_HPP_
#define UMLIBRARY_DRIVER_RESOLVERSERIALPORTADAPTER_HPP_


#include "SpiPortReader.hpp"
#include "IResolver.hh"

#include <cmath>

namespace driver {

template<typename Packager>
class ResolverSerialPortAdapter : public IResolver {
public:
    float getSinChannel() const override { return sin_channel; }
    float getCosChannel() const override { return cos_channel; }

    void process() {
        typename Packager::Data data_time_regs = Packager::decode( reader.get() );
        sin_channel = data_time_regs.data[sin_channel_offset];
        cos_channel = data_time_regs.data[cos_channel_offset];
    }

    ResolverSerialPortAdapter( peripheral::ISerialPort & port, std::size_t frame_size, typename Packager::Frame request_frame,
                     unsigned short sin_channel_offset, unsigned short cos_channel_offset ) :
        reader(port, frame_size, request_frame), sin_channel(NAN), cos_channel(NAN),
        sin_channel_offset(sin_channel_offset), cos_channel_offset(cos_channel_offset) {}

    virtual ~ResolverSerialPortAdapter() = default;

private:
    float sin_channel;
    float cos_channel;

    const unsigned short sin_channel_offset;
    const unsigned short cos_channel_offset;

    driver::SpiPortReader<typename Packager::Frame> reader;

};

}

#endif /* UMLIBRARY_DRIVER_RESOLVERSERIALPORTADAPTER_HPP_ */