Applied PIMPL principle

src/masterMacsAxis.h

@@ -1,13 +1,15 @@
 #ifndef masterMacsAXIS_H
 #define masterMacsAXIS_H
 #include "sinqAxis.h"
-#include <bitset>
+#include <memory>
 
 // Forward declaration of the controller class to resolve the cyclic dependency
 // between the controller and the axis .h-file. See
 // https://en.cppreference.com/w/cpp/language/class.
 class masterMacsController;
 
+struct masterMaxsAxisImpl;
+
 class masterMacsAxis : public sinqAxis {
   public:
     /**
@@ -105,23 +107,23 @@ class masterMacsAxis : public sinqAxis {
      */
     asynStatus readEncoderType();
 
-  protected:
-    masterMacsController *pC_;
-    double lastSetSpeed_;
-    bool waitForHandshake_;
-    time_t timeAtHandshake_;
+    /**
+     * @brief Check if the axis needs to run its initialization function
+     *
+     * @return true
+     * @return false
+     */
+    bool needInit();
 
-    bool targetReachedUninitialized_;
+    /**
+     * @brief Instruct the axis to run its init() function during the next poll
+     *
+     * @param needInit
+     */
+    void setNeedInit(bool needInit);
 
     asynStatus readConfig();
 
-    /*
-    The axis status and axis error of MasterMACS are given as an integer from
-    the controller. The 16 individual bits contain the actual information.
-    */
-    std::bitset<16> axisStatus_;
-    std::bitset<16> axisError_;
-
     /**
      * @brief Read the Master MACS status with the xR10 command and store the
      * result in axisStatus_
@@ -130,7 +132,7 @@ class masterMacsAxis : public sinqAxis {
     asynStatus readAxisStatus();
 
     /*
-    The functions below read the specified status bit from the axisStatus_
+    The functions below read the specified status bit from the axisStatus
     bitset. Since a bit can either be 0 or 1, the return value is given as a
     boolean.
     */
@@ -138,68 +140,68 @@ class masterMacsAxis : public sinqAxis {
     /**
      * @brief Read the property from axisStatus_
      */
-    bool readyToBeSwitchedOn() { return axisStatus_[0]; }
+    bool readyToBeSwitchedOn();
 
     /**
      * @brief Read the property from axisStatus_
      */
-    bool switchedOn() { return axisStatus_[1]; }
+    bool switchedOn();
 
     // Bit 2 is unused
 
     /**
      * @brief Read the property from axisStatus_
      */
-    bool faultConditionSet() { return axisStatus_[3]; }
+    bool faultConditionSet();
 
     /**
      * @brief Read the property from axisStatus_
      */
-    bool voltagePresent() { return axisStatus_[4]; }
+    bool voltagePresent();
 
     /**
      * @brief Read the property from axisStatus_
      */
-    bool quickStopping() { return axisStatus_[5] == 0; }
+    bool quickStopping();
 
     /**
      * @brief Read the property from axisStatus_
      */
-    bool switchOnDisabled() { return axisStatus_[6]; }
+    bool switchOnDisabled();
 
     /**
      * @brief Read the property from axisStatus_
      */
-    bool warning() { return axisStatus_[7]; }
+    bool warning();
 
     // Bit 8 is unused
 
     /**
      * @brief Read the property from axisStatus_
      */
-    bool remoteMode() { return axisStatus_[9]; }
+    bool remoteMode();
 
     /**
      * @brief Read the property from axisStatus_
      */
-    bool targetReached() { return axisStatus_[10]; }
+    bool targetReached();
 
     /**
      * @brief Read the property from axisStatus_
      */
-    bool internalLimitActive() { return axisStatus_[11]; }
+    bool internalLimitActive();
 
     // Bits 12 and 13 are unused
 
     /**
      * @brief Read the property from axisStatus_
      */
-    bool setEventHasOcurred() { return axisStatus_[14]; }
+    bool setEventHasOcurred();
 
     /**
      * @brief Read the property from axisStatus_
      */
-    bool powerEnabled() { return axisStatus_[15]; }
+    bool powerEnabled();
 
     /**
      * @brief Read the Master MACS status with the xR10 command and store the
@@ -217,72 +219,76 @@ class masterMacsAxis : public sinqAxis {
     /**
      * @brief Read the property from axisError_
      */
-    bool shortCircuit() { return axisError_[1]; }
+    bool shortCircuit();
 
     /**
      * @brief Read the property from axisError_
      */
-    bool encoderError() { return axisError_[2]; }
+    bool encoderError();
 
     /**
      * @brief Read the property from axisError_
      */
-    bool followingError() { return axisError_[3]; }
+    bool followingError();
 
     /**
      * @brief Read the property from axisError_
      */
-    bool communicationError() { return axisError_[4]; }
+    bool communicationError();
 
     /**
      * @brief Read the property from axisError_
      */
-    bool feedbackError() { return axisError_[5]; }
+    bool feedbackError();
 
     /**
      * @brief Read the property from axisError_
      */
-    bool positiveLimitSwitch() { return axisError_[6]; }
+    bool positiveLimitSwitch();
 
     /**
      * @brief Read the property from axisError_
      */
-    bool negativeLimitSwitch() { return axisError_[7]; }
+    bool negativeLimitSwitch();
 
     /**
      * @brief Read the property from axisError_
      */
-    bool positiveSoftwareLimit() { return axisError_[8]; }
+    bool positiveSoftwareLimit();
 
     /**
      * @brief Read the property from axisError_
      */
-    bool negativeSoftwareLimit() { return axisError_[9]; }
+    bool negativeSoftwareLimit();
 
     /**
      * @brief Read the property from axisError_
      */
-    bool overCurrent() { return axisError_[10]; }
+    bool overCurrent();
 
     /**
      * @brief Read the property from axisError_
      */
-    bool overTemperature() { return axisError_[11]; }
+    bool overTemperature();
 
     /**
      * @brief Read the property from axisError_
      */
-    bool overVoltage() { return axisError_[12]; }
+    bool overVoltage();
 
     /**
      * @brief Read the property from axisError_
      */
-    bool underVoltage() { return axisError_[13]; }
+    bool underVoltage();
 
     /**
      * @brief Read the property from axisError_
      */
-    bool stoFault() { return axisError_[15]; }
+    bool stoFault();
+
+  private:
+    masterMacsController *pC_;
+    std::unique_ptr<masterMaxsAxisImpl> pMasterMacsA_;
 };
 
 #endif