PServo.h

#pragma once
 
namespace ps {
enum class State : unsigned char {
  STANDBY,          
  INITIALIZED,      
  HALT,             
  IN_ACTION,        
  PAUSED,           
  ERROR_UNEXPECTED, 
  ERROR_NOACTION,   
  ERROR_TIMERPTR,   
};
 
namespace Default {
unsigned char constexpr MIN = 0;   
unsigned char constexpr MAX = 180; 
unsigned char constexpr DELAY = 1; 
}; // namespace Default
 
typedef struct Props {
  State state;                 
  unsigned long pc;            
  unsigned long *const timer;  
  unsigned char const min;     
  unsigned char const max;     
  bool const is_resetable;     
  unsigned char curr_action;   
  unsigned char active_action; 
  unsigned char actions_count; 
  unsigned char pos;           
  unsigned short delay;        
} Props;
 
class PServo {
public:
  PServo(unsigned long *const timer) : _timer(timer) {}
 
  PServo(unsigned long *const timer, bool const is_resetable)
      : _timer(timer), _is_resetable(is_resetable) {}
 
  PServo(unsigned long *const timer, unsigned char const min,
         unsigned char const max)
      : _timer(timer), _min(min), _max(max) {}
 
  PServo(unsigned long *const timer, unsigned char const min,
         unsigned char const max, bool const is_resetable)
      : _timer(timer), _min(min), _max(max), _is_resetable(is_resetable) {}
 
  PServo *begin(void);
 
  PServo *move(unsigned char const next_pos);
 
  PServo *move(unsigned char const next_pos, unsigned short const delay);
 
  Props const props(void) const;
 
  State const get_state(void) const;
 
  bool is_state(State s) const;
 
  unsigned char pos(void) const;
 
  void reset(void);
 
private:
  State _state = State::STANDBY;
 
  unsigned long _pc = 0;
  unsigned long *const _timer = nullptr;
 
  unsigned char _min = Default::MIN;
  unsigned char _max = Default::MAX;
  bool _is_resetable = false;
 
  unsigned char _curr_action = 0;
  unsigned char _active_action = 0;
  unsigned char _actions_count = 0;
  unsigned char _pos = 0;
  unsigned short _delay = Default::DELAY;
 
  inline void _reset_active_action_to_start_again(void);
  inline void _reset_or_update_and_start_next_action(void);
};
 
char const *state_text(State s);
}; // namespace ps