NEWBIE! In over his head (MOTOR CONTROL, pointers, classes and whatnot

ShadeT (5)
Hello All!

My name is Chris, 32, from The Netherlands, and currently im working on a project for my education (Mechanical Engineering) at the company I work at. (I go to school in the evenings).
My project is to create a 3D scanner. My own addition is to only use secondhand materials already available at the company, leftovers so to say. So far so good, I’ve constructed a frame from existing used lineair drives, which are driven by MOONS stepper drive motors.

However, the challenge (for me) is the motor control. I’ve had some basic C training. Most code I can read. However, I’m still a script kiddie, I can't write code.

I’ve been given part of an application that can control one stepper drive, written in C++.
However, from my program I want to control multiple stepper drives at once.
I basically understand how the existing program works. But, my current problem is with classes, and multiple threads.
For the simple solution I could copy existing classes + underlying functions, so that I have control for each motor. But I believe I should be able to control multiple motors from one set of code.
( I hope im making sense, I don’t speak programmer ;) ).

I've read a lot about pointers, classes, shared/weak/and whatnot pointers, arrays, threads etc. but im a bit stuck an im hoping you could give me some 'pointers' (pun intended).

I hope i'm making sense, and the code is clear. And if any of you could help me i would be very grateful!

The code: I've divided it into three parts
1: motortest.cpp : main code
2: MotorbarAmp.cpp : code for the motor control, which creates a thread and in which functions are specified
3: MotorbarAmp.h : Header file in which motor class is specified.

First: the main part of the program in which i call the Motorbar application (with IP) Again, how the hell do i do this when i have multiple IP adresses.
I know its something with shared pointers and make_shared.. but.. how?



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#include <iostream>
#include <stdio.h>
#include "MotorbarAmp.h"
#include <sstream>
#include <thread>

using namespace std;

int main(int argc, char * argv[])
{
	string line;
	int                 choice = ' ';
	shared_ptr<MotorbarAmp> mb; <<-- IT'S SOMETHING TO DO WITH THIS
	bool initialized = false;
	//boost::asio::io_service io_service;
	cout << "Motor Control Menu \n";
	cout << "Choose motor to calibrate \n";
	while (choice != 'D') 
	{
		cout << "X for x-axis motor";
		cout << "Y for y-axis motor";
		getline(cin, line);
		choice = line[0];
		switch (choice)
		{
		case 'X':
		{
			if (initialized)
			{
				mb = NULL;
			}
			cout << "Perform initialization!" << endl;
			int ipx[4] = { 200, 51, 2, 12 };
			int ipy[4] = { 200, 51, 2, 1 };
			string ipsx, ipsy;
			cout << "Enter IP adress X or press enter for default (" << ipx[0] << "." << ipx[1] << "." << ipx[2] << "." << ipx[3] << ")" << endl;
			getline(cin, ipsx);
			if (ipsx.length() >= 7)
			{
				ipx[0] = atoi(ipsx.substr(0, ipsx.find('.', 0)).c_str());
				ipsx = ipsx.substr(ipsx.find('.', 0) + 1, 50);
				ipx[1] = atoi(ipsx.substr(0, ipsx.find('.', 0)).c_str());
				ipsx = ipsx.substr(ipsx.find('.', 0) + 1, 50);
				ipx[2] = atoi(ipsx.substr(0, ipsx.find('.', 0)).c_str());
				ipsx = ipsx.substr(ipsx.find('.', 0) + 1, 50);
				ipx[3] = atoi(ipsx.c_str());
			}
			uint32_t ip;
			ip = (ipx[0] << 24) | (ipx[1] << 16) | (ipx[2] << 8) | ipx[3];
			cout << "ip = " << ((ip & 0xff000000) >> 24) << "." << ((ip & 0xff0000) >> 16) << "." << ((ip & 0xff00) >> 8) << "." << (ip & 0xff) << endl;
			mb = make_shared<MotorbarAmp>(ip); // <<--AND THIS PART RIGHT HERE
			initialized = true;
			break;
		}


Second:
the header in which a thread is created for motor control. (problem im facing is multiple IP's. The uint32_t ip part. I think i can do something with an array ?? perhaps a for loop.. but HOW.

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#include "MotorbarAmp.h"
#include <time.h>
#include "AmpMotor.h"
#include <iostream>
#include <thread>
#include "boost/asio.hpp"

std::thread* worker_thread_asio; <<-- I HAVE TO DO SOMETHING WITH THIS I THINK
bool running = false;
fd_set rfds, wfds, efds;
std::shared_ptr<IMotorBar> amp_motor_; <<- AND ALSO THIS FOR MULTIPLE MOTORS

MotorbarAmp::MotorbarAmp(uint32_t ip) BUT WHAT ABOUT THE IP PART? CAN I SOMEHOW USE MULTIPLE IP's?)BECAUSE EVERY FUNCTION IN THIS FILE USES amp_motor_
{
		amp_motor_ = std::make_shared<AmpMotor>(io_service);
		amp_motor_->SetCallback(this);
		running = true;
		amp_motor_->Setup(true, ip);
		worker_thread_asio = new std::thread(&MotorbarAmp::WorkerAsio, this);
}

void MotorbarAmp::Calibrate() 
{
	amp_motor_->Calibrate();
}

void MotorbarAmp::WorkerAsio() 
{
	try 
	{
		io_service.run();
	}
	catch (boost::system::system_error err)
	{
		cout << err.what();
	}
	cout << "asio thread ended" << endl;
}



And third: the header file in which the MotorbarAmp class is specified.
Also here, the uint32_t ip part. 

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#pragma once
#include <stdint.h>
#include <stdio.h>
#include <boost/asio.hpp>
#include "imotorbar.h"

using namespace std;

class MotorbarAmp :
  public std::enable_shared_from_this<MotorbarAmp>,
  public IMotorBarCallback {
private:
  boost::asio::io_service io_service;
  std::vector<MotorErrors> errors;
public:
	MotorbarAmp(uint32_t ip);<<- AGAIN WITH THE IP!//boost::asio::io_service &io_service
  void Calibrate();
  void Stop();
  void WorkerAsio();
  ~MotorbarAmp();
  void SetPosition(int position, int speed);
  void ResetErrors();

  // Inherited via IMotorBarCallback
  virtual void Initialized() override;
  virtual void Calibrated(int max_pos_in_um) override;
  virtual void ConnectionEstablished() override;
  virtual void ConnectionClosed() override;
  virtual void PositionUpdate(int position_in_um, bool moving) override;
  virtual void Error(MotorErrors error, bool set) override;
};
switchy (38)
Have a vector of type MotorbarAmp.
ShadeT (5)
Ok, a vector. So far so good.

so, something like?
 
 
vector<MotorbarAmp> mb;


Basically, what i want to achieve is that i have three instances of motorbarAmp running at the same time. so that i can control the functions within motorbaramp.

So eventually is i would control them i could use

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mb1->Calibrate();
mb2->Stop();



But within my main program, im having problems with the uint32_t ip part.

How would i use a vector for that ?
switchy (38)
yes like this.

Here are the steps I would do.

1. Declare a vector(which you have done). vector<MotorbarAmp> mb;
2. Ask how many motors would the user like to create.
3. Loop that many times, asking the user to enter the IP with all the validation code.
4. Then add a new MotorbarAmp to the vector passing the IP with each iteration of the loop.

You can refer to each motor like this mb(1), mb(2) or use a variable if you want to control them all with one loop. like this 

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for (int i = 0; i < NumOfMotors; i++) {
    mb(i)->Stop();
}


ShadeT (5)
Thanks, for the input and help.

I'm going to try this today.

ShadeT (5)
THe vector doesn't work (or more probably; im doing it wrong).

When i used a vector, and iteration I could use the functions of the class. But not start three threads of the same class with their own identifier running.

So, eventually i would stop all three motors and have to give mb1->Stop(); mb2->Stop();mb3->Stop.

But, to do that i first need to initialize and make contact with the motors, which is done by the mb = make_shared<MotorbarAmp>(ip) part

so basically what i want is something like this.
I know the mb(i) doesnt work after the shared pointer.
This is to illustrate what im thinking about. 

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#include <iostream>
#include <stdio.h>
#include "MotorbarAmp.h"
#include <sstream>
#include <thread>

using namespace std;

int main(int argc, char * argv[])
{
	string line;
	int                 choice = ' ';
	std::shared_ptr<MotorbarAmp> mb(i);
	bool initialized = false;
	cout << "How many motors? " << endl;
	string NumOfMotors;
	getline(cin, NumOfMotors);
	int MotNr = atoi(NumOfMotors.c_str());
	for (int i = 0; i < MotNR; i++)
    {
			int ipp[4] = { 200, 51, 254, 5 };
			string ips;
			cout << "enter IP address, or press enter to accept default (" << ipp[0] << "." << ipp[1] << "." << ipp[2] << "." << ipp[3] << ")" << endl;
			getline(cin, ips);
			if (ips.length() >= 7)
			{
				ipp[0] = atoi(ips.substr(0, ips.find('.', 0)).c_str());
				ips = ips.substr(ips.find('.', 0) + 1, 50);
				ipp[1] = atoi(ips.substr(0, ips.find('.', 0)).c_str());
				ips = ips.substr(ips.find('.', 0) + 1, 50);
				ipp[2] = atoi(ips.substr(0, ips.find('.', 0)).c_str());
				ips = ips.substr(ips.find('.', 0) + 1, 50);
				ipp[3] = atoi(ips.c_str());
			}
			uint32_t ip;
			ip = (ipp[0] << 24) | (ipp[1] << 16) | (ipp[2] << 8) | ipp[3];
			cout << "ip = " << ((ip & 0xff000000) >> 24) << "." << ((ip & 0xff0000) >> 16) << "." << ((ip & 0xff00) >> 8) << "." << (ip & 0xff) << endl;
			mb(i); = make_shared<MotorbarAmp>(ip); //<<<- I NEED THIS TO CREATE THREE instances running of <MotorbarAmp>
			bool initialized = true;
			return(0);
		}
		//mb = make_shared<MotorbarAmp>(ip);
		//bool initialized = true;
	}


so, what am I doing wrong here ?
ShadeT (5)
Ok,

I have something working now, i used an if function (not elegant, but practical)

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#include <iostream>
#include <stdio.h>
#include "MotorbarAmp.h"
#include <sstream>

using namespace std;

int main(int argc, char * argv[])
{
	std::shared_ptr<MotorbarAmp> mb1;
	std::shared_ptr<MotorbarAmp> mb2;
	std::shared_ptr<MotorbarAmp> mb3;
	bool initialized = false;
	string line;
	int					choice = ' ';

	cout << "Welcome to the motor control menu \n" << endl;
	cout << "----------------------------------\n" << endl;
	cout << "How many motors? " << endl;
	string NumOfMotors;
	getline(cin, NumOfMotors);
	int MotNr = atoi(NumOfMotors.c_str());
	while (choice != 'Q')
	{
		cout << "What would you like to do ? \n" << endl;
		getline(cin, line);
		choice = line[0];
		switch (choice)
		{
		case 'i':
		{
			cout << "Initialization1 \n" << endl;
			for (int i = 0; i < MotNr; i++)
			{
				if (i < 1)
				{
					//std::shared_ptr<MotorbarAmp> mb1;
					bool initialized = false;
					if (initialized)
					{
						mb1 = NULL;
					}
					int ipp[4] = { 200, 51, 254, 5 };
					string ips;
					cout << "enter IP address, or press enter to accept default (" << ipp[0] << "." << ipp[1] << "." << ipp[2] << "." << ipp[3] << ")" << endl;
					getline(cin, ips);
					if (ips.length() >= 7)
					{
						ipp[0] = atoi(ips.substr(0, ips.find('.', 0)).c_str());
						ips = ips.substr(ips.find('.', 0) + 1, 50);
						ipp[1] = atoi(ips.substr(0, ips.find('.', 0)).c_str());
						ips = ips.substr(ips.find('.', 0) + 1, 50);
						ipp[2] = atoi(ips.substr(0, ips.find('.', 0)).c_str());
						ips = ips.substr(ips.find('.', 0) + 1, 50);
						ipp[3] = atoi(ips.c_str());
					}
					uint32_t ip;
					ip = (ipp[0] << 24) | (ipp[1] << 16) | (ipp[2] << 8) | ipp[3];
					cout << "ip = " << ((ip & 0xff000000) >> 24) << "." << ((ip & 0xff0000) >> 16) << "." << ((ip & 0xff00) >> 8) << "." << (ip & 0xff) << endl;
					mb1 = make_shared<MotorbarAmp>(ip);
					initialized = true;
				}
				else if (0 > i < 2)
				{
					//std::shared_ptr<MotorbarAmp> mb2;
					bool initialized = false;
					if (initialized)
					{
						mb2 = NULL;
					}
					int ipp[4] = { 200, 51, 254, 5 };
					string ips;
					cout << "enter IP address, or press enter to accept default (" << ipp[0] << "." << ipp[1] << "." << ipp[2] << "." << ipp[3] << ")" << endl;
					getline(cin, ips);
					if (ips.length() >= 7)
					{
						ipp[0] = atoi(ips.substr(0, ips.find('.', 0)).c_str());
						ips = ips.substr(ips.find('.', 0) + 1, 50);
						ipp[1] = atoi(ips.substr(0, ips.find('.', 0)).c_str());
						ips = ips.substr(ips.find('.', 0) + 1, 50);
						ipp[2] = atoi(ips.substr(0, ips.find('.', 0)).c_str());
						ips = ips.substr(ips.find('.', 0) + 1, 50);
						ipp[3] = atoi(ips.c_str());
					}
					uint32_t ip;
					ip = (ipp[0] << 24) | (ipp[1] << 16) | (ipp[2] << 8) | ipp[3];
					cout << "ip = " << ((ip & 0xff000000) >> 24) << "." << ((ip & 0xff0000) >> 16) << "." << ((ip & 0xff00) >> 8) << "." << (ip & 0xff) << endl;
					mb2 = make_shared<MotorbarAmp>(ip);
					initialized = true;
				}
				else if (1 < i < MotNr)
				{
					//std::shared_ptr<MotorbarAmp> mb3;
					bool initialized = false;
					if (initialized)
					{
						mb3 = NULL;
					}
					int ipp[4] = { 200, 51, 254, 5 };
					string ips;
					cout << "enter IP address, or press enter to accept default (" << ipp[0] << "." << ipp[1] << "." << ipp[2] << "." << ipp[3] << ")" << endl;
					getline(cin, ips);
					if (ips.length() >= 7)
					{
						ipp[0] = atoi(ips.substr(0, ips.find('.', 0)).c_str());
						ips = ips.substr(ips.find('.', 0) + 1, 50);
						ipp[1] = atoi(ips.substr(0, ips.find('.', 0)).c_str());
						ips = ips.substr(ips.find('.', 0) + 1, 50);
						ipp[2] = atoi(ips.substr(0, ips.find('.', 0)).c_str());
						ips = ips.substr(ips.find('.', 0) + 1, 50);
						ipp[3] = atoi(ips.c_str());
					}
					uint32_t ip;
					ip = (ipp[0] << 24) | (ipp[1] << 16) | (ipp[2] << 8) | ipp[3];
					cout << "ip = " << ((ip & 0xff000000) >> 24) << "." << ((ip & 0xff0000) >> 16) << "." << ((ip & 0xff00) >> 8) << "." << (ip & 0xff) << endl;
					mb3 = make_shared<MotorbarAmp>(ip); //<<<- I NEED THIS TO CREATE THREE instances running of <MotorbarAmp>
					initialized = true;
				}

			}
		}
		case 'C':
		{
			cout << "Which motor do you want to calibrate? \n" << endl;
			//cin >> q;
			if (initialized)
			{
				cout << "Performing calibration \n" << endl;
				mb1->Calibrate();
			}
			else
			{
				cout << "Motor bar not initialized yet \n" << endl;
			}
			break;
		}

		return(0);
		}

	}
}


However, now i've g ot a problem with my asio_threads.

Output, when i enter my second IP adress: Asio Thread Ended.
So, there's something going on with this part:

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#include "MotorbarAmp.h"
#include <time.h>
#include "AmpMotor.h"
#include <iostream>

#include <thread>
#include "boost/asio.hpp"

std::thread* worker_thread_asio;

bool running = false;
fd_set rfds, wfds, efds;
std::shared_ptr<IMotorBar> amp_motor_;

MotorbarAmp::MotorbarAmp(uint32_t ip) 
{
		cout << "test4" << endl;
		amp_motor_ = std::make_shared<AmpMotor>;
		amp_motor_->SetCallback(this);
		running = true;
		amp_motor_->Setup(true, ip);
		worker_thread_asio = new std::thread(&MotorbarAmp::WorkerAsio, this);
		cout << "test5" << endl;
	
}


So, somehow i can make instances of the shared pointer, but i dont create new threads?
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