/*
 * BinaryEncoderSync.cpp
 *
 *  Created on: 1 февр. 2022 г.
 *      Author: titov
 */

#include "BinaryEncoderSync.hh"

#include "../../driver/BinaryEncoderSync.hh"

bool application::board::BinaryEncoderSync::input( Environment & env ) {

    return grab( data_master, env.rholder.getShared<communication::ISubscriberRegistrator>( links.data_master ) );

}

void application::board::BinaryEncoderSync::build( Environment & env ) {

    Local<communication::ISubscriberRegistrator> local_data_master( data_master, *env.rholder.getShared<communication::ISubscriberRegistrator>( links.data_master ) );

    driver::detail::BinaryEncoderSync * encoder = memories::instance_object<driver::detail::BinaryEncoderSync>( env.static_object_ma,
                                                    config.angle_bitoffset, config.agnle_bitsize,
                                                    config.turn_bitoffset,  config.turn_bitsize  );

    local_data_master->addSubscriber(config.frame_bitoffset, config.frame_bitsize, encoder );

    systemic::ProcScheduler::ProcessParameter proc = {
        .priority = params.priority,
        .period = params.period, .phase = params.phase,
        .controlled = false
    };

    env.scheduler.registerProcess( params.processor_id, *encoder,
                                   proc );

    env.rholder.share<driver::IEncoder>( *encoder, links.encoder_sync );

}

application::board::BinaryEncoderSync::BinaryEncoderSync(
        const Links & links, const Setting & config,
        configuration::ProcessConfig & params ) : links(links), config(config), params(params) {}