hall_sensor.h

#ifndef HALL_SENSOR_H
#define HALL_SENSOR_H 
#include <boost/interprocess/sync/named_mutex.hpp>
#include <string>
 
#include <boost/interprocess/managed_shared_memory.hpp> 
#include <boost/interprocess/sync/named_mutex.hpp> // Mutex!
 
#include "joint_level_control/hall_sensor/swing_sensor_rosinterface.h" // implements the spi read, also defines error flags
 
class HallSensor
{
public:    
    HallSensor(const std::string& spi_device, uint8_t spi_cs_id, uint8_t spi_mode, uint8_t spi_bits, uint32_t spi_speed, uint16_t spi_delay, double zero_point, uint16_t mux_sel_pin_1, uint16_t mux_sel_pin_2);
    ~HallSensor();
    double getValue();
    void setZeroPoint();
   uint8_t getErrors();
 
private:
    std::string spi_device_; // file which controls spi device
    uint8_t spi_cs_id_; // address of sensor in spi. This is used in the multiplexer pins
    uint8_t spi_mode_; 
    uint8_t spi_bits_; 
    uint32_t spi_speed_; 
    uint16_t spi_delay_;
    double zero_point_ ;
    uint8_t error_; // contains the error flags for different errors of the sensor
 
    boost::interprocess::named_mutex named_mtx_{boost::interprocess::open_or_create, "multiplexer_mtx"};
    uint16_t mux_selector_pin_1_; // 1st multiplexer selector pin for the chip select line
    uint16_t mux_selector_pin_2_; // 2nd multiplexer selector pin for the chip select line
 
};
 
 
#endif