ExoData.h

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#ifndef ExoData_h
#define ExoData_h
 
#include "Arduino.h"
 
#include "LegData.h"
#include <stdint.h>
#include "ParseIni.h"
#include "Board.h"
#include "StatusLed.h"
#include "StatusDefs.h"
/* 
 * ExoData was broken out from the Exo class as we were originally going to have it mirrored on a second microcontroller that handled BLE.
 * It doesn't need to be done this way if we aren't, and is pretty cumbersome.
 * Just thought you might be wondering about the weirdness.
 */
 
// moved status values to StatusDefs.h
 
// Type used for the for each joint method, the function should take JointData as input and return void
typedef void (*for_each_joint_function_t) (JointData*, float*); 
 
 
class ExoData 
{
    public:
        ExoData(uint8_t* config_to_send); // constructor
        
        void reconfigure(uint8_t* config_to_send);
        
        template <typename F>
        void for_each_joint(F &&func)
        {
                func(&left_leg.hip, NULL);
                func(&left_leg.knee, NULL);
                func(&left_leg.ankle, NULL);
                func(&right_leg.hip, NULL);
                func(&right_leg.knee, NULL);
                func(&right_leg.ankle, NULL);
        }
        template <typename F>
        void for_each_joint(F &&func, float* args)
        {
                func(&left_leg.hip, args);
                func(&left_leg.knee, args);
                func(&left_leg.ankle, args);
                func(&right_leg.hip, args);
                func(&right_leg.knee, args);
                func(&right_leg.ankle, args);
        }
 
        // Returns a list of all of the joint IDs that are currently being used
        uint8_t get_used_joints(uint8_t* used_joints);
 
        JointData* get_joint_with(uint8_t id);
        
        void print();
 
        void set_status(uint16_t status_to_set);
        uint16_t get_status(void);
 
        void set_default_parameters();
 
        void start_pretrial_cal();
 
        
        
        bool sync_led_state; 
        bool estop;
        float battery_value; 
        LegData left_leg;
        LegData right_leg;
        uint32_t mark; 
        uint8_t* config; 
        uint8_t config_len; 
        int error_code; 
        int error_joint_id;
        bool user_paused; 
        private:
        uint16_t _status; 
};
 
#endif