parser.hh

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#ifndef PARSER_HH
#define PARSER_HH
 
#include <QObject>
 
typedef unsigned char byte;
typedef unsigned short int word;
 
#define L_JOY_LIMIT_X 1830 // JOYSTICK DEFAULT LOWER LIMIT IN AXIS X (DATA READ FROM ANALOG INPUT)
#define H_JOY_LIMIT_X 2050 // JOYSTICK DEFAULT HIGH LIMIT IN AXIS X (DATA READ FROM ANALOG INPUT)
#define L_JOY_LIMIT_Y 1940 // JOYSTICK DEFAULT LOWER LIMIT IN AXIS Y (DATA READ FROM ANALOG INPUT)
#define H_JOY_LIMIT_Y 2160 // JOYSTICK DEFAULT HIGH LIMIT IN AXIS Y (DATA READ FROM ANALOG INPUT)
 
#define CRC_INIT 0xffff
#define CRC_POLYNOMIAL 0x1021
 
class Parser : public QObject
{
    Q_OBJECT
 
  public:
    explicit Parser();
 
    ~Parser();
 
    bool parseFrame(const std::string& frame);
 
    void processData();
 
  signals:
    void changedLeftMotorGSpeed(const QString& speedValue);
 
    void changedRightMotorGSpeed(const QString& speedValue);
 
    void changedLeftMotorSpeed(const QString& speedValue);
 
    void changedRightMotorSpeed(const QString& speedValue);
 
    void changedLeftMotorAcceleration(const QString& accelerationValue);
 
    void changedRightMotorAcceleration(const QString& accelerationValue);
 
    void changedJoystick(const QPoint& coordinates);
 
    void changedBattery(int battery);
 
    void changedLidar(const std::map<float, int> lidarData);
 
  private:
    float calculateSpeedRight(const int& xAxis, const int& yAxis);
 
    float calculateSpeedLeft(const int& xAxis, const int& yAxis);
 
    float calculateAcceleration(const int& acceleration);
 
    int _leftSpeed;
    int _rightSpeed;
 
    int _leftAcceleration;
    int _rightAcceleration;
 
    int _xAxis;
    int _yAxis;
 
    int _battery;
 
    std::map<float, int> _lidarData;
 
    int _CRC16;
};
 
#endif // PARSER_HH