parser.hh

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#ifndef PARSER_HH
#define PARSER_HH
 
#include <QObject>
 
#define L_JOY_LIMIT_X 1830 
#define H_JOY_LIMIT_X 2050 
#define L_JOY_LIMIT_Y 1940 
#define H_JOY_LIMIT_Y 2160 
 
#define CRC_INIT 0xffff
#define CRC_POLYNOMIAL 0x1021
 
class Parser : public QObject
{
    Q_OBJECT
 
  public:
    explicit Parser() = default;
 
    ~Parser() = default;
 
    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);
 
    void leftMotorDirection(const int& direction);
 
    void rightMotorDirection(const int& direction);
 
    void setObstacleCloseStatus();
 
    void resetObstacleCloseStatus();
 
  private:
    float calculateSpeedRight(const int& xAxis, const int& yAxis);
 
    float calculateSpeedLeft(const int& xAxis, const int& yAxis);
 
    int _leftSpeed;                  
    int _rightSpeed;                 
    int _leftAcceleration;           
    int _rightAcceleration;          
    int _xAxis;                      
    int _yAxis;                      
    int _battery;                    
    std::map<float, int> _lidarData; 
    int _CRC16;                      
};
 
#endif /* PARSER_HH */